WO2017072835A1

WO2017072835A1 - Waste collection system, elevator, and waste collection method

Info

Publication number: WO2017072835A1
Application number: PCT/JP2015/080119
Authority: WO
Inventors: 黒田　慎一
Original assignee: 三菱電機株式会社
Priority date: 2015-10-26
Filing date: 2015-10-26
Publication date: 2017-05-04
Also published as: CN108025869A; CN108025869B; JPWO2017072835A1; JP6642585B2

Abstract

Provided are: a waste collection system which eliminates the need to provide a special measuring tool to a basement floor or the like at the time of the introduction thereof; an elevator used in the waste collection system; and a waste collection method. The waste collection system 1 according to the present invention is equipped with: a car 63 which vertically moves within the hoistway 62 of an elevator 6; a robot 7 which is moved according to a preset program so as to transport a waste box 4 containing waste to the interior of the car 63; a weighing device 634 which measures the weight in the car 63; and a data processing unit 641 which calculates the weight of the waste in the car 63 on the basis of the measurement result of the weighing device 634.

Description

Waste collection system, elevator, and waste collection method

The present invention relates to a waste collection system that collects waste using a robot and an elevator, an elevator used in the waste collection system, and a waste collection method.

The conventional waste emission management system is applied to a building where multiple businesses move in as tenants. On each floor of this building, there will be a waste box installation site. A waste collection box is installed at the waste box installation location. A plurality of waste boxes are accommodated in the waste collection box. In one waste box, only one type of waste from one operator is input.

An IC tag storing waste management data is attached to the peripheral wall of the waste box. The waste management data includes data such as the name of a resident company and data specifying the type of waste.

The conventional waste discharge management system includes a waste box transfer robot. The waste box transport robot has a function of autonomously traveling according to a preset program. The waste box transport robot grips the waste box at the waste box installation site, and then uses the elevator to transport the waste box to the waste box collection site provided on the basement of the building.

A waste weighing management mechanism equipped with a measuring instrument and an IC tag reader is installed at the waste box collection place. The weigher weighs the waste. The IC tag reader reads waste management data stored in the IC tag of the waste box. The conventional waste discharge management system grasps and manages the waste discharge status of each business operator based on the data acquired by the waste measurement management mechanism. Further, based on these data, each business operator is provided with a clear index to promote waste reduction, or each business operator is charged according to the amount of waste discharged (see, for example, Patent Document 1). ).

On the other hand, the conventional elevator operation method uses a cage for transporting residents etc. in the collection operation of a garbage container in a high-rise house provided with an elevator. On each floor, there is a trash container for storing trash. A cradle is provided at the bottom of the cage to accommodate the trash container. The garbage container is delivered to the cage, and after the cage descends, it is thrown into the storage and discharge machine in the underground B1 (for example, see Patent Document 2).

JP 2010-105788 (paragraphs 0020 to 0023, 0025 to 0028, 0031 to 0033, 0068, 0069, and FIGS. 1 to 3)

JP-A-5-32379 (paragraphs 0010, 0011, 0024, and FIG. 1)

In the waste discharge management system according to Patent Document 1, it was necessary to provide a measuring instrument in the basement for introduction.

On the other hand, the operation method of the elevator according to Patent Document 2 does not consider the weighing of waste. For this reason, when the method is used to grasp and manage the waste discharge status of each business operator, it is necessary to take measures such as providing a measuring instrument in the underground B1.

The present invention has been made in view of the above, and is a waste collection system that does not require a dedicated measuring instrument on the basement or the like at the time of introduction, an elevator used in the waste collection system, and waste The purpose is to provide a collection method.

A waste collection system according to the present invention includes a robot that moves according to a preset program for each car that moves up and down in an elevator hoistway, and that carries a waste box containing waste into the car, A weighing apparatus for weighing the weight in the car, and a data processing unit for calculating the weight of the waste in the car based on the weighing result of the weighing apparatus.

An elevator according to the present invention includes a car that moves up and down in a hoistway, and in an elevator in which a waste box containing waste is carried into a car by a robot that moves according to a preset program. And a data processing unit for calculating the weight of the waste in the car based on the weighing result of the weighing apparatus.

The waste collection method according to the present invention is a waste collection method for collecting waste using a elevator car that moves up and down in an elevator hoistway. In the waste collection method, a robot that moves according to a preset program accommodates waste. A transport process for transporting waste boxes into the car, a weighing process for weighing the weight in the car, and a waste weight calculation for calculating the weight of the waste in the car based on the weighing results in the weighing process. A process.

According to the present invention, it is possible to provide a waste collection system that does not require a dedicated measuring instrument on the basement or the like at the time of introduction, an elevator used in the waste collection system, and a waste collection method.

1 is a schematic diagram illustrating a configuration of a waste collection system in Embodiment 1. FIG. 4 is a flowchart for explaining the operation of the waste collection system in the first embodiment. 3 is a flowchart for explaining the operation of the data processing unit in the first embodiment. 3 is a flowchart illustrating a procedure for determining a next movement destination of the robot in the first embodiment. FIG. 6 is a schematic diagram illustrating a configuration of a waste collection system in a second embodiment. 10 is a schematic diagram illustrating a configuration of a waste collection system in Embodiment 3. FIG. FIG. 10 is a schematic diagram illustrating a configuration of a waste collection system in a fourth embodiment.

Embodiment 1 FIG.
FIG. 1 is a schematic diagram showing a configuration of a waste collection system 1 in the first embodiment. The configuration of the waste collection system 1 in the first embodiment will be described with reference to FIG. The present invention is not limited to the description of the first embodiment.

The waste collection system 1 in the first embodiment is applied to a building 2 in which a plurality of business operators are occupying as tenants. Although the detailed illustration is omitted, the building 2 is an office building or the like in which offices such as companies that are business operators or their branch offices are gathered.

Each floor of the building 2 has a waste box installation site 3 for each business operator. A waste box 4 is installed at the waste box installation place 3. The waste box 4 stores the waste discharged by the operator.

On the first basement floor of the building 2, a waste box collection place 5 for collecting the waste box 4 is provided. All waste generated in the building 2 is collected in the waste box collection place 5. The waste box collection place 5 is provided with an unillustrated waste outlet. The waste collected in the waste box collection place 5 is accommodated in a waste collection vehicle (not shown) and is carried out of the building 2 through a waste carry-out port. It is assumed that no operator is in the first basement.

As shown in FIG. 1, the waste collection system 1 includes an elevator 6, a robot 7, a robot control device 8, and an ID tag 9.

The elevator 6 is installed in the building 2 and moves between the floors by carrying employees of the business operator who moves into the building 2. The elevator 6 includes a landing 61, a hoistway 62, a car 63, and an elevator control device 64. On each floor of the building 2, a hall 61 is provided for users such as employees to get on and off. A hoistway 62 is provided in the building 2, and a car 63 is provided in the hoistway 62. The car 63 is controlled by the elevator control device 64 and moves up and down in the hoistway 62 and stops at the landing 61. The elevator control device 64 controls the operation of the entire elevator 6. The details of the configuration of the elevator 6 will be described later.

The robot 7 is a transfer robot that automatically operates and moves according to a preset program and carries the waste box 4 containing the waste into the car 63. The robot 7 includes an obstacle sensor, a distance sensor, and an orientation sensor (not shown). The obstacle sensor detects the presence or absence of an obstacle in front of the robot 7. The distance sensor detects a distance to a predetermined measurement object existing in front of the robot 7. The direction sensor detects the direction of the robot 7 in the traveling direction.

In the robot 7, the positions of the hall 61 and the waste box installation place 3 on each floor and the route connecting them are preset and stored. That is, the robot 7 stores a route from the landing 61 on each floor to each waste box installation location 3 on that floor. For example, when a first waste box installation place 3a and a second waste box installation place 3b are provided on a certain floor, the route between the landing 61 on that floor and the first waste box installation place 3a In addition, a total of two types of routes, that is, the route between the landing 61 on the floor and the second waste box installation location 3b are stored.

Further, the robot 7 stores in advance the position of the waste box collection place 5 on the first basement floor and the route between the landing 61 on the first basement floor and the waste box collection place 5.

Furthermore, the robot 7 includes waste box gripping means (not shown) for gripping one or a plurality of waste boxes 4. The waste box gripping means includes a rail provided on the robot 7 and a pulley provided on the waste box 4 so as to be engageable with the rail. The robot 7 holds the waste box 4 by engaging the pulley of the waste box 4 with the rail of the robot 7. The second and subsequent waste boxes 4 are engaged with the rails provided in the waste box 4 that is already engaged with the robot 7, so that the pulley provided in the waste box 4 is engaged with the robot 7. Is engaged.

Note that the waste box gripping means is not limited to this, and for example, the robot 7 may include a robot arm (not shown). In this case, the robot arm grips the waste box 4 and loads them one by one on the upper part of the robot 7 body. Other than these, other known techniques can be applied as the waste box gripping means.

The robot control device 8 is provided at a location different from the main body of the robot 7 and instructs the movement destination of the robot 7. The robot control device 8 is connected to the elevator control device 64. The robot 7 can communicate with the elevator control device 64 via the robot control device 8.

When receiving a movement destination command from the robot control device 8, the robot 7 moves in accordance with a route stored by itself. The robot 7 grips the waste box 4 by the waste box gripping means, and conveys the waste box 4 from each waste box installation place 3 to the waste box collection place 5 via the car 63. At this time, if the robot 7 has sufficient capacity for transporting, the robot 7 also grips other transportable waste boxes 4 and transports the plurality of waste boxes 4 to the waste box collection place 5.

The robot 7 is a so-called mobile robot. A mobile robot refers to a robot that is instructed by a control device provided at a location different from the main body and that operates on its own according to this command.

Note that the robot 7 may be an autonomous robot. An autonomous robot is a robot that is provided with a control device inside its main body and that operates on its own upon receiving a command of a destination from the control device. An autonomous robot can move autonomously according to a stored route in response to a command for a destination directly from the elevator control device.

The ID tag 9 is attached to the waste box 4 and stores unique identification information set in advance. The ID tag 9 transmits identification information stored therein as a radio signal. The ID tag 9 has a built-in battery that supplies power necessary for transmitting a radio signal. The ID tag 9 is a so-called active RFID (Radio Frequency IDentification) tag.

The ID tag 9 is also given to each employee of the business operator who moves into the building 2 and the robot 7 and the like. Each ID tag 9 is assigned unique identification information in order to uniquely identify each of the plurality of business operators and the waste boxes 4 of the business operators, the plurality of employees, and the robot 7.

The ID tag 9 is a storage medium that is attached to the waste box 4 or the like and transmits a radio signal including preset identification information.

Next, the configuration of the elevator 6 will be described in detail. In the elevator 6, a landing button 611, a receiver 612, and a display 613 are installed on the wall surface of the landing 61 on each floor.

The hall button 611 registers an upward or downward hall call when pressed. The receiver 612 receives a radio signal transmitted from the ID tag 9. The display 613 displays the direction of the hall call registered by the hall button 611.

In the car 63, a destination button 631, a receiver 632, a display 633, and a scale device 634 are installed.

The destination button 631 is installed on the wall surface in the car 63 and registers the stop floor of the car 63 when pressed. The receiver 632 is installed on the ceiling in the car 63 and receives a radio signal transmitted from the ID tag 9 in the car 63. The display 633 displays the stop floor registered with the destination button 631. The scale device 634 is installed under the floor of the car 63 and measures the weight in the car 63.

The elevator control device 64 is installed in the hoistway 62 or in a dedicated space (not shown) provided in the building 2. The elevator control device 64 controls operations of the car 63, devices installed in the car 63, devices installed in the landing 61, and the like.

The elevator control device 64 includes a data processing unit 641, a data storage unit 642, an operation management unit 643, and an interface unit 644.

The data processing unit 641 calculates the weight of the waste in the car 63 based on the measurement result of the scale device 634. The data processing unit 641 stores the calculated waste weight in the data storage unit 642. Further, the data processing unit 641 determines the next movement destination of the robot 7 based on the calculated weight of the waste.

The data storage unit 642 stores the weight of the waste and the identification information in association with each other. The operation management unit 643 is responsible for overall operation management of the car 63. The operation management unit 643 receives information on the next floor of the robot 7 from the data processing unit 641 and controls the operation of the elevator 6 based on this information. The interface unit 644 communicates with the robot control device 8 or the robot 7.

FIG. 2 is a flowchart for explaining the operation of the waste collection system 1 according to the first embodiment. The operation of the waste collection system 1 in the first embodiment will be described with reference to FIG.

The waste collection system 1 starts the collection operation of the waste box 4 at a predetermined time such as at night. The waste collection system 1 collects the waste boxes 4 in order from the top floor of the building 2. In step ST 1, the data processing unit 641 outputs a movement destination command of the robot 7 to the robot control device 8 via the interface unit 644. The robot control device 8 outputs to the robot 7 a command for setting the waste box installation place 3 where the collection target waste box 4 is installed as a movement destination.

In step ST2, the robot 7 acquires the presence / absence of the obstacle detected by the obstacle sensor, the travel distance calculated based on the detection result of the distance sensor, the direction information detected by the direction sensor, and the like. The robot 7 moves to the target waste box installation site 3 based on this information and a preset route from the landing 61 to the waste box installation site 3. When arriving at the target waste box installation location 3, the robot 7 holds the waste box 4 to be collected by the waste box holding means.

In step ST3, the robot 7 transports the waste box 4 to the landing 61 on the same floor based on a preset route from the waste box installation place 3 to the landing 61.

When the robot 7 arrives at the landing 61, the ID tag 9 attached to each of the waste box 4 and the robot 7 enters the detection range of the receiver 612 in step ST4. The receiver 612 receives radio signals transmitted from these ID tags 9.

The receiver 612 outputs to the operation management unit 643 a signal requesting registration of a landing call in the direction toward the floor where the waste box collection place 5 is installed, that is, the downward direction in FIG. After receiving this signal, the operation management unit 643 outputs a signal permitting the hall call to the hall button 611 and turns on the downward button of the hall button 611.

It should be noted that the registration of the hall call may be performed when a radio signal is received from the ID tag 9 of either the waste box 4 or the robot 7.

In step ST5, when the car 63 arrives at the waiting floor, the robot 7 gets on the car 63. When boarding the car 63, the ID tag 9 attached to each of the waste box 4 and the robot 7 enters the detection range of the receiver 632. The receiver 632 receives radio signals transmitted from these ID tags 9. As described above, the wireless signal includes the waste box 4 identification signal or the robot 7 identification signal. The receiver 632 outputs the identification signal of the waste box 4 and the identification signal of the robot 7 to the data processing unit 641.

In step ST6, the data processing unit 641 calculates the weight of the waste in the car 63. Further, the data processing unit 641 determines the next movement destination of the robot 7. Details of the operation of the data processing unit 641 in step ST6 will be described later.

In step ST7, the operation management unit 643 confirms whether or not the next destination floor of the robot 7 is the same as the floor where the car 63 is currently stopped.

If the result of step ST7 is Yes, the process proceeds to step ST8. In step ST8, the operation management unit 643 continues to open the doors of the landing 61 and the car 63 until the robot 7 gets out of the car 63. The operation management unit 643 closes the landing 61 and the doors of the car 63 after confirming that the robot 7 has got off the car 63. Further, the interface unit 644 outputs the next movement destination received from the data processing unit 641 to the robot control device 8.

Then, the process returns to step ST1, and thereafter the above operation is repeated. That is, the robot control device 8 outputs a next movement destination command to the robot 7. The robot 7 starts moving to the next destination.

On the other hand, if the result of step ST7 is No, the process proceeds to step ST9. In step ST 9, the operation management unit 643 turns on the button corresponding to the next destination floor of the robot 7 among the destination buttons 631 in the car 63. The operation management unit 643 closes the doors of the landing 61 and the car 63 and then moves the car 63 to the next destination floor of the robot 7.

In step ST10, the robot control device 8 confirms whether or not the next movement destination of the robot 7 is the waste box collection place 5.

If the result of step ST10 is No, the process proceeds to step ST8 and then returns to step STS1. Thereafter, the above operation is repeated.

On the other hand, if the result of step ST10 is Yes, in step ST11, the operation management unit 643 continues to open the doors of the landing 61 and the car 63 until the robot 7 gets off the car 63. The operation management unit 643 closes the landing 61 and the doors of the car 63 after confirming that the robot 7 has got off the car 63. Further, the interface unit 644 outputs the next movement destination received from the data processing unit 641 to the robot control device 8.

In step ST12, the robot control device 8 outputs a command to the robot 7 with the waste box collection place 5 as the movement destination. The robot 7 moves to the waste box collection place 5 and discards the waste accommodated in the waste box 4 to the waste box collection place 5.

In step ST13, the robot 7 grips the empty waste box 4 and moves to the landing 61 on the first basement floor.

In step ST14, the robot 7 uses the elevator 6 to return the empty waste box 4 to the waste box installation place 3 where it was originally installed. The place where the waste box 4 was originally installed can be determined based on the identification information read from the ID tag 9 of the waste box 4.

In addition, since the operation | movement which returns the waste box 4 can be performed similarly to the operation | movement from step ST1 to step ST10, description is abbreviate | omitted.

After returning all the waste boxes 4 that have been gripped to their original locations, the robot 7 goes to the landing 61 in step ST15.

In step ST16, the data processing unit 641 searches for the presence or absence of the uncollected waste box 4 in the building 2.

As a result of the search, if there is an uncollected waste box 4, that is, if Yes in step ST16, the process returns to step ST6. Thereafter, the above operation is repeated. That is, the data processing unit 641 determines the waste box installation place 3 where the uncollected waste box 4 is installed as the next destination. The operation management unit 643 controls the operation of the elevator 6. The robot 7 goes to collect the uncollected waste box 4.

On the other hand, if there is no uncollected waste box 4 as a result of the search, that is, if No in step ST16, the process proceeds to step ST17. In step ST17, the data processing unit 641 outputs a standby command for the robot 7 to the interface unit 644. The robot control device 8 acquires a standby command via the interface unit 644 and outputs it to the robot 7. The robot 7 moves to a standby place set in advance.

FIG. 3 is a flowchart for explaining the operation of the data processing unit 641. The operation of the data processing unit 641 in step ST6 of FIG. 2 will be described using FIG.

In step ST21, the data processing unit 641 receives the weight measurement value in the car 63 from the scale device 634.

In step ST22, the data processing unit 641 calculates the weight of the waste in the car 63 based on the measurement result of the scale device 634.

Here, a method for calculating the weight of waste will be described. The data storage unit 642 stores the weight of the robot 7 and the weight of each waste box 4. The data processing unit 641 can calculate the weight of the waste stored in the waste box 4 by subtracting the weight of the robot 7 and the waste box 4 from the weight in the car 63 measured by the scale device 634. .

In step ST23, the data processing unit 641 outputs the calculated weight of the waste to the data storage unit 642 in association with the identification information of the operator that has discharged the waste. The data storage unit 642 classifies and stores the weight of the waste for each business as the amount of waste discharged by the business associated with the identification information.

Table 1 below is a table showing the amount of waste discharged by a specific company.

The data storage unit 642 stores information as shown in Table 1 by the number of operators. Further, the data storage unit 642 stores the average value and the maximum value of the discharge amount for the latest 30 days. The data storage unit 642 updates information as shown in Table 1 as necessary, for example, when new information regarding the weight of waste is received from the data processing unit 641.

Here, a method for calculating the weight of the waste housed in the second and subsequent waste boxes 4 will be described. First, when the robot 7 gets on the car 63 while holding the waste box 4 of the first operator, the weight of the waste stored in the waste box 4 of the first operator is the data processing. The calculation is performed by the unit 641 using the calculation method as described above. Next, when the robot 7 gets on the car 63 while holding the waste box 4 of the first company and the waste box 4 of the second company, the waste of the first company The discharge amount is stored in the data storage unit 642. Therefore, the data processing unit 641 determines the weight of the robot 7, the waste box 4 of the first operator, and the waste box 4 of the second operator from the weight in the car 63 measured by the scale device 634. By subtracting the weight and the amount of waste discharged by the first operator, the weight of the waste stored in the waste box 4 of the second operator can be calculated.

Next, in step ST24, the data processing unit 641 calculates a threshold value indicating the remaining power of the robot 7. The surplus power referred to here is an index indicating how much weight remains for the maximum transport amount of the robot 7.

Here, a method for calculating a threshold value indicating the remaining power of the robot 7 will be described. In addition to the above, the data storage unit 642 also stores the maximum transport amount of the robot 7. The data processing unit 641 calculates a threshold value indicating the remaining power of the robot 7 by subtracting the weight of the waste box 4 and the weight of the waste contained in the waste box 4 from the maximum transport amount of the robot 7. To do.

In step ST25, the data processing unit 641 determines the next movement destination of the robot 7 based on the threshold value indicating the calculated remaining capacity of the robot 7. A method for determining the next movement destination of the robot 7 in step ST25 will be described later.

In step ST 26, the data processing unit 641 outputs the information of the next destination floor of the robot 7 to the operation management unit 643. In step ST27, the data processing unit 641 outputs the next movement destination to the interface unit 644.

FIG. 4 is a flowchart for explaining the procedure for determining the next movement destination of the robot 7. The procedure for determining the next movement destination of the robot 7 will be described with reference to FIG.

In step ST31, the data processing unit 641 searches for each business operator occupying the same floor as the floor where the robot 7 is currently located to determine whether there is a business operator whose waste discharge amount is less than the threshold.

Here, a method for searching for the presence or absence of a business that satisfies the conditions will be described. As described above, the data processing unit 641 calculates a threshold value indicating the remaining power of the robot 7. The data processing unit 641 determines whether or not there is an operator whose total value of the weight of the waste discharged by the operator and the weight of the waste box 4 is less than the threshold for each operator who moves into the same floor. Search for.

In this search, the data processing unit 641 uses the discharge amount of the waste stored in the data storage unit 642 as the weight of the waste discharged in the past by the business operator. For example, the data processing unit 641 may use the amount of waste discharged on the previous day as the weight of waste discharged in the past by the business operator. Moreover, you may use the average value of the discharge amount of the waste for the last 30 days as a weight of the waste discharged | emitted by the provider in the past. As the weight of waste discharged in the past by the business operator, the maximum value of the amount of waste discharged in the last 30 days may be used.

As a result of the search, if there is a corresponding business operator, that is, if YES in step ST31, the process proceeds to step ST32. In step ST32, the data processing unit 641 selects the waste box 4 containing the waste discharged by the business operator as the next collection target. Then, the waste box installation place 3 where the waste box 4 is installed is determined as the next destination.

In addition, when a plurality of corresponding business operators are searched, the next collection target is determined based on a predetermined priority order. For example, the data processing unit 641 has a waste box for storing the waste discharged by the operator with respect to the largest number of operators whose weight of waste discharged in the past is equal to or less than a threshold value indicating the remaining capacity of the robot 7. 4 is determined as the next collection target.

On the other hand, if there is no corresponding business operator as a result of the search, that is, if No in step ST31, the process proceeds to step ST33. In step ST33, the data processing unit 641 updates the search target floor. Specifically, the data processing unit 641 updates the search target floor to the next lower floor.

In step ST34, the data processing unit 641 confirms whether or not the updated target floor is the floor where the waste box collection place 5 is installed.

If the result of step ST34 is Yes, the data processing unit 641 determines that there is no more waste box 4 that the robot 7 can carry. In step ST 35, the data processing unit 641 determines the waste box collection place 5 as the next movement destination of the robot 7.

On the other hand, if the result of step ST34 is No, the process proceeds to step ST36. In step ST 36, the data processing unit 641 searches for each business operator occupying the same floor as the search target floor for the presence or absence of a business operator whose waste discharge amount is less than a threshold value indicating the remaining capacity of the robot 7. This search method is the same as the method in step ST31.

As a result of the search, if there is a corresponding business operator, that is, if Yes in step ST36, the process proceeds to step ST32. In step ST32, as described above, the data processing unit 641 determines the waste box installation location 3 where the waste box 4 of the business operator is installed as the next destination.

On the other hand, if there is no corresponding business operator as a result of the search, that is, if No in step ST36, the process proceeds to step ST33. Thereafter, the processes of step ST33, step ST34, and step ST36 are repeated. In other words, the data processing unit 641 determines whether or not there is an operator whose amount of waste is less than a threshold value indicating the remaining capacity of the robot 7 while lowering the floor to be searched one floor at a time for all floors in which the operator moves. Search for.

As described above, the waste collection system 1 of the first embodiment includes the car 63 of the elevator 6, the robot 7, the scale device 634, and the data processing unit 641. The car 63 moves up and down in the hoistway 62 of the elevator 6. The robot 7 moves according to a preset program and carries the waste box 4 containing the waste into the car 63. The scale device 634 measures the weight in the car 63. The data processing unit 641 calculates the weight of the waste in the car 63 based on the measurement result of the scale device 634.

Therefore, the data processing unit 641 calculates the weight of the waste discharged by the operator based on the weight in the car 63 measured by the scale device 634 when the robot 7 gets on the car 63 of the elevator 6. It can be calculated. Therefore, when the waste collection system 1 is introduced, there is no need to provide a dedicated measuring instrument on the first basement floor where the waste box collection place 5 is installed, so that costs and labor can be reduced.

Also, the scale device 634 is always installed in the car 63 of the elevator 6. For this reason, the waste collection system 1 calculates the weight of the waste using the scale device 634, so that it is not necessary to provide a separate measuring instrument when introducing the system, and the cost and labor can be reduced.

The waste collection system 1 includes an ID tag 9 as a storage medium, a receiver 612 or a receiver 632, and a data storage unit 642. The ID tag 9 is attached to the waste box 4 and transmits a radio signal including preset identification information. The receiver 612 is provided at the landing 61 of the elevator 6 and receives a radio signal. The receiver 632 is provided in the car 63 of the elevator 6 and receives a radio signal. The data storage unit 642 stores the weight of the waste in the car 63 in association with the identification information acquired from the radio signal.

For this reason, the waste collection system 1 can use the weight of the waste for each company stored in the data storage unit 642 to execute various operations. For example, the weight of waste classified for each business can be provided to employees related to the business as a clear index for reducing waste. As a result, it is possible to promote awareness of waste reduction on a business unit basis, and it is possible to reduce general business waste.

The data processing unit 641 calculates a threshold value indicating the remaining capacity of the robot 7 based on the weight of the waste in the car 63 and the maximum transport amount of the robot 7. Further, the data processing unit 641 compares the calculated threshold value with the weight of the waste stored in the data storage unit 642, and searches for the presence or absence of another waste box 4 that the robot 7 can carry.

If there is a waste box 4 that the robot 7 can carry, the data processing unit 641 determines the waste box 4 to be collected next. At this time, since the weight of the waste is calculated using the weighing device 634 in the car 63, the robot 7 does not need to go down to the first basement floor for weighing. That is, the robot 7 can move directly from the car 63 to the next destination. Therefore, the waste collection system 1 can efficiently collect one or a plurality of waste boxes 4 by one robot 7 and can reduce the time required for collecting the waste.

In addition, when the elevator 6 is used for both the movement of the employee and the like and the collection of the waste box 4, the employee can use the elevator 6 as the time that the waste box 4 occupies the elevator 6 increases. Time is shortened. In such a case, there is a problem that user comfort is impaired. On the other hand, since the waste collection system 1 can efficiently collect the waste box 4 as described above, it is possible to suppress a decrease in user comfort.

When another waste box 4 that can be transported by the robot 7 is installed on the floor where the waste box 4 is installed, the data processing unit 641 moves to the place where the other waste box 4 is installed. The robot 7 is directed.

Thus, when determining the next movement destination of the robot 7, the data processing unit 641 first searches the floor where the robot 7 is present for the presence or absence of another waste box 4 that can be transported. If there is another waste box 4 that can be transported on the floor, the waste box installation location 3 where the searched waste box 4 is installed is determined as the next destination. Therefore, the moving distance of the robot 7 can be shortened, and the waste box 4 can be collected efficiently.

On the other hand, if there is no other waste box 4 that can be transported by the robot 7 on the floor where the waste box 4 has been installed, the data processing unit 641 may have the robot 7 on a floor different from the floor. It is searched whether another waste box 4 that can be transported is installed.

That is, when there is no other waste box 4 that can be transported to the same floor, the data processing unit 641 next searches for another waste box 4 that can be transported to a different floor. Therefore, the next moving destination of the robot 7 can be efficiently searched, and the waste box 4 can be efficiently collected.

In the first embodiment, each floor of the building 2 is provided with a waste box installation place 3 for each company, and the waste box 4 for the company has a waste box 4 for the company. Although it has been explained that it is installed, it is not limited to this.

For example, the waste box installation place 3 may be provided only at one place for a single business operator, or may be provided at a plurality of places. Only one waste box 4 may be installed for one business operator, or a plurality of waste boxes 4 may be installed. Moreover, the waste box installation place 3 may be provided only in one place common to each business operator occupying the same floor. When only one common place is provided, the waste box installation place 3 is provided with the necessary number of waste boxes 4 for each business operator.

At this time, the data storage unit 642 stores the discharge amount of the waste for each identification information unique to the waste box 4, not for each business operator.

The procedure for determining the next movement destination of the robot 7 may be changed as follows. As described above, in step ST31 or step ST36 of FIG. 4, the data processing unit 641 searches for each business operator for the presence or absence of a business operator whose waste discharge amount is less than the threshold value. Instead, the data processing unit 641 searches each waste box 4 for the presence or absence of the waste box 4 in which the amount of waste discharged by the waste box 4 is less than the threshold value. The data processing unit 641 searches for the presence or absence of the waste box 4 in which the total value of the amount of waste discharged in the past by the waste box 4 and the weight of the waste box 4 is less than the threshold value.

By doing in this way, even when a plurality of waste boxes 4 are allocated to one company, one waste box 4 is allocated to one company The same effect can be obtained.

Embodiment 2. FIG.
FIG. 5 is a schematic diagram showing a configuration of the waste collection system 1a according to the second embodiment. The waste collection system 1a in Embodiment 2 is demonstrated using FIG. In addition, in Embodiment 2, what attached | subjected the name and code | symbol same as Embodiment 1 abbreviate | omits description as showing the same or equivalent structure etc., and demonstrates a different part mainly. The present invention is not limited by the description of the second embodiment.

As shown in FIG. 5, the waste collection system 1 a according to the second embodiment collects the waste boxes 4 in the building 2 in cooperation with a plurality of robots 7. In the waste collection system 1a, the car 63 is also regarded as a part of the robot that transports the waste box 4. That is, one robot 7 is provided on each floor, and only carries the waste box 4 in the horizontal direction on the same floor. The car 63 is responsible for transporting the waste box 4 in the vertical direction across the floors.

The building 2 has a plurality of robots 7 installed. For this reason, the ID tag 9 is provided for each robot 7.

Further, the waste collection system 1a according to the second embodiment performs data processing as shown in FIG. 5 instead of the data processing unit 641, the data storage unit 642, and the operation management unit 643 of the first embodiment shown in FIG. Unit 641a, data storage unit 642a, and operation management unit 643a.

Table 2 below is a property table for each robot 7.

The property table shown in Table 2 includes an ID unique to each robot 7, its own weight, and the maximum transport amount. The data storage unit 642a stores the properties of each robot 7 as shown in Table 2, for example. The data processing unit 641a calculates the weight of the waste in the car 63 using the properties of each robot 7 stored in the data storage unit 642a.

Next, the operation of the waste collection system 1a will be described.

The robot 7 arranged on each floor moves to the landing 61 after holding the waste box 4 installed on that floor. When the ID tag 9 enters the detection range of the receiver 612, the receiver 612 receives a radio signal transmitted from the ID tag 9. The receiver 612 outputs a signal requesting the operation management unit 643a to register a hall call in a direction toward the floor where the waste box collection place 5 is installed. The receiver 612 transmits an identification signal included in the received radio signal, that is, an identification signal included in the ID tag 9 attached to each of the waste box 4 and the robot 7 to the data processing unit 641a.

When the car 63 arrives on the floor where the robot 7 stands by, the robot 7 grips the waste box 4 and gets on the car 63. The data processing unit 641a calculates the weight of waste in the car 63 as in the first embodiment.

The data processing unit 641a searches for each business operator occupying the floor where the robot 7 is located to determine whether there is a business operator whose waste discharge amount is less than a threshold. When there is a corresponding business operator, the data processing unit 641a determines the next movement destination of the robot 7 with the waste box 4 containing the waste discharged by the business operator as the next collection target.

The robot 7 collects the waste bins 4 on the arranged floor as long as the remaining power remains. When the remaining power is exhausted, the robot 7 holds one or more waste boxes 4 and stands by at the landing 61.

The data processing unit 641a waits until receiving identification signals corresponding to all the robots 7 from the receiver 612. When the identification signals corresponding to all the robots 7 have been received, the data processing unit 641a moves the robot 7 arranged on the floor where the waste box collection place 5 is installed to the landing 61 on the same floor. The data processing unit 641a informs the robot control device 8 of the ID and the number of robots 7 to be moved. At this time, the data processing unit 641 a instructs the number of the waste boxes 4 in the car 63 that can be transported to the waste box collection place 5.

Next, the data processing unit 641a outputs a command signal for waste collection operation to the operation management unit 643a. When the waste collection operation command signal is received, the operation management unit 643 a moves the car 63 to the top floor of the building 2.

After the car 63 moves to the top floor, the operation management unit 643a stops the car 63 in order on each floor where the robot 7 is waiting. When the car 63 arrives at the boarding place 61 where it stands by, each robot 7 transports the waste box 4 into the car 63. In this way, each waste box 4 is transported to the floor where the waste box collection place 5 is installed.

When the car 63 arrives at the floor where the waste box collection place 5 is installed, the robot 7 waiting in the landing 61 in advance puts all the waste boxes 4 in the car 63 into the waste box collection place 5. Transport to.

As described above, the robot 7 according to the second embodiment takes the waste box 4 into the car 63 and then gets off the car 63. The car 63 moves up and down the hoistway 62 with the waste box 4 after the robot 7 gets off. That is, when the waste collection system 1a transports the waste box 4 to the floor where the waste box collection place 5 is installed, only the waste box 4 needs to be loaded on the car 63, and the robot 7 itself There is no need to get on the car 63.

In the first embodiment, when the weight of collected waste exceeds the maximum transport amount of the robot 7, the robot 7 rides on the car 63 and transports the waste box 4 to the waste box collection place 5. I had to. On the other hand, in the waste collection system 1a, the floor where the robot 7 carries the waste box 4 is assigned to each floor, so that the waste box 4 can be efficiently transported. Further, the car 63 can carry many waste boxes 4 as much as the robot 7 does not get on the car 63. Therefore, the waste collection system 1a according to the second embodiment can transport the waste box 4 more efficiently than the first embodiment.

In the second embodiment, the robot 7 calls the car 63 to the floor where the robot 7 arrives at the landing 61, the robot 7 grips the waste box 4 and gets on the car 63, and the data processing unit 641a is inside the car 63. However, the present invention is not limited to this.

Instead of calculating the weight of the waste before the instruction of the waste collection operation, the data processing unit 641a may use the weight of the waste discharged by the business operator in the past. The weight of the waste discharged in the past by the business operator is stored in the data storage unit 642a as described in the first embodiment. The data processing unit 641a instructs the ID and the number of the robots 7 to be moved to the landing 61 on the floor where the waste box collection place 5 is installed with reference to the weight of the waste discharged by the business in the past. After outputting the command, the data processing unit 641a calculates the weight of the waste when the car 63 collects the waste boxes 4 on each floor. In this case, the ID and the number of the robots 7 to be moved to the landing 61 on the floor where the waste bin collection place 5 is installed are updated every time the waste bin 4 is loaded in the car 63 on each floor. Even in such a case, it is possible to obtain the same effect as the case where the weight of the waste in the car 63 is calculated in advance before the instruction of the waste collection operation.

Embodiment 3 FIG.
FIG. 6 is a schematic diagram showing the configuration of the waste collection system 1b in the third embodiment. The waste collection system 1b in Embodiment 3 is demonstrated using FIG. In the third embodiment, components having the same names and reference numerals as those in the first or second embodiment are omitted as they represent the same or equivalent configuration, and different portions are emphasized. I will explain it. The present invention is not limited by the description of the third embodiment.

The waste collection system 1b of the third embodiment includes a display 613b and a display 633b as shown in FIG. 6 instead of the display 613 and the display 633 of the first embodiment. Moreover, the waste collection system 1b of Embodiment 3 includes a data processing unit 641b. The waste collection system 1b according to the third embodiment uses data collected via the scale device 634 as content to be displayed on the display 613b or the display 633b.

The indicator 613b is provided on the wall surface of the hall 61 of the elevator 6, and displays the direction of the hall call registered by the hall button 611, similarly to the indicator 613 in the first embodiment. Furthermore, when the receiver 612 of the hall 61 receives a wireless signal, the display 613b displays the amount of waste discharged by the business operator associated with the identification signal included in the wireless signal.

The display device 633b is installed on the wall surface in the car 63, and displays the stop floor registered by the destination button 631 in the same manner as the display device 633 in the first embodiment. Furthermore, when the receiver 632 in the car 63 receives a wireless signal, the display 633b displays the amount of waste discharged by the business operator associated with the identification signal included in the wireless signal.

Next, the operation of the waste collection system 1b will be described.

In FIG. 6, the employee A of the business operator who moves into the building 2 approaches the landing 61 on the first floor in order to get on the car 63 and move to the destination floor. Along with this, the ID tag 9 possessed by the employee A enters the detection range of the receiver 612 installed at the hall 61. The receiver 612 receives the radio signal transmitted from the ID tag 9.

The receiver 612 outputs a signal requesting registration of the hall call to the operation management unit 643, as in the first embodiment. At this time, the receiver 612 transmits an identification signal included in the received radio signal, that is, an identification signal included in the ID tag 9 possessed by the employee A, to the data processing unit 641b.

When the identification signal for the employee A is received from the receiver 612, the data processing unit 641b reads out a table of the waste discharge amount of the business operator corresponding to the identification signal from the data storage unit 642. This table is, for example, the same table as Table 1 in the first embodiment. The data processing unit 641b outputs the discharge amount of the waste included in the read table to the display unit 613b. The display 613b displays the received amount of discharged waste on the screen.

When the car 63 arrives at the floor, the operation management unit 643 outputs a display end signal to the display 613b. When the display end signal is received, the display 613b ends the display of the amount of waste discharged.

After the employee A gets on the car 63, the receiver 632 in the car 63 receives the radio signal transmitted from the ID tag 9 of the employee A, and receives the identification signal included in the received radio signal as data. It transmits to the processing unit 641b.

The data processing unit 641b reads the table of the amount of waste discharged by the business operator corresponding to the identification signal from the data storage unit 642, and outputs the amount of waste discharged to the display 633b, as before. The display 633b displays the received amount of waste discharged on the screen.

When the car 63 arrives at the destination floor of the employee A, the operation management unit 643 outputs a display end signal to the display 633b. When the display end signal is received, the display 633b ends the display of the amount of waste discharged.

As described above, the waste collection system 1b according to the third embodiment includes the display 613b or the display 633b. The indicator 613b is provided at the landing 61 of the elevator 6 and displays the weight of the waste stored in the data storage unit 642 in association with the identification information. The indicator 633b is provided in the car 63 and displays the weight of the waste stored in the data storage unit 642 in association with the identification information. For this reason, the waste collection system 1b can classify the amount of waste discharged by each business operator for each business operator and then present it to employees related to the business operator. Therefore, it is possible to provide a clear index for reducing waste and promote awareness of waste reduction on a business unit basis. It becomes.

It should be noted that employees of a plurality of business operators may board the hall 61 or the car 63. In this case, the display device 613b or the display device 633b can display the amount of waste discharged by time division or display the screen divided for each business operator.

In addition, when a plurality of waste box installation locations 3 are provided for a single business operator, the waste discharge amount may be divided and displayed for each waste box installation location 3. Furthermore, when a plurality of waste boxes 4 are allocated to one business operator, the waste discharge amount may be divided and displayed for each waste box 4.

Embodiment 4 FIG.
FIG. 7 is a schematic diagram showing a configuration of the waste collection system 1c in the fourth embodiment. The waste collection system 1c in Embodiment 4 is demonstrated using FIG. Note that in the fourth embodiment, components having the same names and reference numerals as those in the first to third embodiments are omitted as they represent the same or equivalent configuration, and different portions are emphasized. I will explain it. The present invention is not limited by the description of the fourth embodiment.

The waste collection system 1c according to the fourth embodiment is different from the waste collection system 1 according to the first embodiment, the waste collection system 1a according to the second embodiment, or the waste collection system 1b according to the third embodiment in FIG. As shown, a sprayer 635 is further provided. The sprayer 635 is installed on the wall surface in the car 63 and sprays the deodorant or the fragrance filled inside. The waste collection system 1c according to the fourth embodiment includes a data processing unit 641c.

Next, the operation of the waste collection system 1c will be described.

As described in the first embodiment, the car 63 moves to the floor on which the waste box 4 is placed with the waste box 4 placed thereon. When the car 63 arrives at the floor, the robot 7 carries out the waste box 4 from the car 63. Thereafter, the data processing unit 641c instructs the sprayer 635 to spray the deodorant and the fragrance.

At this time, the spray amount of the deodorant and the fragrance is adjusted based on the weight of the waste carried by the car 63. For example, if the weight of the waste is less than 20 kg, the spray amount is reduced, if it is 20 kg or more and less than 40 kg, the spray amount is moderate, and if it is 40 kg or more, the spray amount is increased.

Note that the weight of the waste is calculated by the data processing unit 641c based on the weight in the car 63 weighed by the scale device 634, as described in the first embodiment. The data processing unit 641c uses this calculation result to determine the spray amount.

As described above, the waste collection system 1c according to the fourth embodiment includes the sprayer 635 that is provided in the car 63 and sprays the deodorant or the fragrance. When transporting the waste box 4, the odor generated from the waste tends to stay in a highly sealed space such as the car 63. The sprayer 635 sprays a deodorant or a fragrance into the car 63 in order to eliminate this odor. Therefore, the comfort of the car 63 can be improved.

Further, the data processing unit 641c adjusts the spray amount of the sprayer 635 based on the weight of the waste in the car 63. Therefore, by spraying an appropriate amount of deodorant or fragrance into the car 63, it is possible to improve the comfort of the user who rides in the car 63 after transporting the waste box 4. .

Note that the adjustment of the spray amount is not limited to the weight of the waste carried by the car 63. In addition, the spray amount may be variable according to the distance that the car 63 has transported the waste box 4. For example, when the waste box 4 is transported from a higher floor above a predetermined floor, the spray amount may be increased, and when transported from a lower floor lower than the predetermined floor, the spray amount may be decreased. Even if it does in this way, the effect similar to the case where the amount of spraying is adjusted with the weight of waste can be acquired.

In the first to fourth embodiments, when the robot 7 or the waste box 4 is transported, the elevator 6 performs a dedicated operation. Dedicated driving is a driving method that goes straight to the destination floor without responding to a hall call on the way. That is, the elevator 6 does not respond to the hall call while the waste box 4 is being transported. Therefore, even when the elevator 6 is used for both the movement of employees and the like and the collection of the waste box 4, the user can be prevented from boarding while the waste box 4 is being transported. It is possible to prevent the user from feeling uncomfortable.

In the first to fourth embodiments, the identification information included in the radio signal received by the receiver 612 is mainly used for the operation of each device installed in the hall 61. The identification information included in the radio signal received by the receiver 632 is mainly used for the operation of each device installed in the car 63. However, it is not limited to this.

For example, the identification information included in the radio signal received by the receiver 612 may be used for the operation of each device installed in the car 63. Further, the identification information included in the radio signal received by the receiver 632 may be used for the operation of each device or the like installed at the hall 61. Even in such a case, the same effect can be obtained.

In Embodiments 1 to 4, the case where the waste collection system is applied to an office building in which offices such as a plurality of companies or branch offices are gathered has been described. However, the present invention is not limited to this. . The waste collection system can be applied to other systems. For example, the waste collection system can be applied to any facility in which a plurality of businesses are accumulated, such as a large-scale commercial facility in which a plurality of businesses are accumulated.

The configuration shown in the above embodiment is an example of the configuration of the present invention, and the configuration of each embodiment is combined, combined with another known technique, or a part of the configuration is omitted. Needless to say, the present invention can be changed as appropriate without departing from the scope of the present invention.

1, 1a, 1b, 1c Waste collection system, 2, Building, 3, 3a, 3b Waste box installation location, 4 Waste box, 5 Waste box collection location, 6, 6a, 6b, 6c Elevator, 61 landing, 611 landing button, 612 receiver, 613, 613b indicator, 62 hoistway, 63 car, 631 destination button, 632 receiver, 633, 633b indicator, 634 scale device, 635 sprayer, 64, 64a, 64b, 64c Elevator control device, 641, 641a, 641b, 641c data processing unit, 642, 642a data storage unit, 643, 643a operation management unit, 644 interface unit, 7 robot, 8 robot control device, 9 ID tag

Claims

A car that goes up and down in the elevator hoistway,
A robot that moves according to a preset program and carries a waste box containing waste into the car;
A scale device for weighing the weight in the car;
A data processing unit that calculates the weight of the waste in the car based on the weighing result of the scale device;
Waste collection system equipped with.
A storage medium attached to the waste box for transmitting a wireless signal including identification information set in advance;
A receiver that is provided at the elevator hall or the car and that receives the radio signal;
A data storage unit for storing the weight of waste in the car in association with the identification information acquired from the radio signal;
The waste collection system according to claim 1, comprising:
The data processing unit calculates a threshold value indicating the remaining power of the robot based on the weight of waste in the car and the maximum transport amount of the robot,
The disposal according to claim 2, wherein the robot compares the threshold value with the weight of the waste stored in the data storage unit and searches for the presence or absence of another waste box that can be transported by the robot. Material collection system.
When another waste box that can be transported by the robot is installed on the floor where the waste box is installed, the data processing unit is located at the place where the other waste box is installed. The waste collection system according to claim 3, wherein the robot is directed.
If there is no other waste box that can be transported by the robot on the floor where the waste box is installed, the data processing unit can transport the robot on a floor different from the floor. The waste collection system according to claim 3 or 4, wherein it is searched whether or not another waste box is installed.
The robot carries the waste box into the car and then gets out of the car,
4. The waste collection system according to claim 2, wherein, after the robot gets off, the car moves up and down in the hoistway by placing the waste box. 5.
7. The display device according to claim 2, further comprising: a display provided in the elevator hall or in the car and displaying the weight of the waste stored in the data storage unit in association with the identification information. The waste collection system described in 1.
Provided in the car, comprising a sprayer for spraying a deodorant or fragrance,
The waste collection system according to any one of claims 2 to 7, wherein the data processing unit adjusts a spray amount of the sprayer based on a weight of the waste in the car.
In an elevator equipped with a car that moves up and down in the hoistway, and a waste box containing waste is carried into the car by a robot that moves according to a preset program,
A scale device for weighing the weight in the car;
A data processing unit that calculates the weight of the waste in the car based on the weighing result of the scale device;
Elevator characterized by comprising.
In a waste collection method for collecting waste using a car that goes up and down in the elevator hoistway,
A transporting process in which a robot moving according to a preset program carries a waste box containing waste into the car;
A weighing step for weighing the weight in the car;
A waste weight calculating step of calculating a weight of waste in the car based on a weighing result in the weighing step;
A waste collection method characterized by comprising: