WO2019107738A1 - Procédé de commande de véhicule de collecte de déchets, appareil de commande de véhicule de collecte de déchets pour le mettre en œuvre, et support d'enregistrement sur lequel est enregistré celui-ci - Google Patents

Procédé de commande de véhicule de collecte de déchets, appareil de commande de véhicule de collecte de déchets pour le mettre en œuvre, et support d'enregistrement sur lequel est enregistré celui-ci Download PDF

Info

Publication number
WO2019107738A1
WO2019107738A1 PCT/KR2018/012186 KR2018012186W WO2019107738A1 WO 2019107738 A1 WO2019107738 A1 WO 2019107738A1 KR 2018012186 W KR2018012186 W KR 2018012186W WO 2019107738 A1 WO2019107738 A1 WO 2019107738A1
Authority
WO
WIPO (PCT)
Prior art keywords
garbage
garbage collection
collection
path plan
trash
Prior art date
Application number
PCT/KR2018/012186
Other languages
English (en)
Korean (ko)
Inventor
권순범
Original Assignee
주식회사 이큐브랩
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 이큐브랩 filed Critical 주식회사 이큐브랩
Publication of WO2019107738A1 publication Critical patent/WO2019107738A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • G06Q50/26—Government or public services
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services

Definitions

  • the present invention relates to a garbage collection vehicle control technique, and more particularly, to a garbage collection vehicle control method capable of providing an optimized garbage collection route plan based on a loading amount of a garbage can and a driving information of a garbage collection vehicle, A garbage collection vehicle control device, and a recording medium storing the same.
  • the garbage collection technology can manage the garbage disposal by controlling the collection of garbage by detecting the amount of garbage collected in the garbage collection device.
  • the moving route can be determined by a method of determining the next collection depending on the distance between the other collection boxes and the amount of the waste.
  • Korean Patent No. 10-1066865 (Sep. 16, 2011) is located in an area where incidents and discharges occur and includes a plurality of garbage collecting devices including a garbage collecting device for collecting discharged garbage and storing and transmitting information on the amount of collected garbage Collection House; A central control server for receiving information on the amount of garbage collected from the garbage collection device and controlling the entire garbage disposal situation based on the received information; And a garbage collection vehicle terminal that receives a collection command signal for the garbage collected by the garbage collection device from the central control server.
  • the garbage collection terminal for garbage collection is characterized in that the garbage collection terminal A control system thereof, and a garbage collection device used therefor.
  • Korean Patent No. 10-1763729 (Jul. 27, 2017) relates to a method for determining an optimum movement route of a plurality of collection vehicles in a waste collection system for collecting a plurality of collection boxes arranged in a jurisdiction area using a plurality of collection vehicles More specifically, at least one of the plurality of collection vehicles collects the waste collected at the collection point, and collects the collected wastes at a collection distance determined based on the distance between the collection vehicle and the collection vehicle and the amount of waste filled in the plurality of collection boxes And to a method for determining an optimum movement route of a car.
  • Patent Document 1 Korean Patent No. 10-1066865 (September 16, 2011)
  • Patent Document 2 Korean Patent No. 10-1763729 (Jul. 27, 2017)
  • An embodiment of the present invention provides a garbage collection vehicle control method capable of providing an optimized garbage collection path plan based on the amount of a garbage can and the operation information of a garbage collection vehicle, a garbage collection vehicle control device performing the same, Media.
  • An embodiment of the present invention provides a garbage collection vehicle control method capable of planning and updating an optimal garbage collection path by reflecting a complex garbage collection situation in real time, a garbage collection vehicle control device performing the same, and a recording medium storing the same I want to.
  • the method for controlling a garbage collection vehicle is carried out in a garbage collection vehicle control device connected to a plurality of garbage can sensors disposed respectively in a plurality of garbage cans and a vehicle sensor disposed in the garbage collection vehicle and providing a position of the garbage collection vehicle do.
  • the method for controlling garbage collection vehicles includes the steps of: (a) receiving garbage loading information from at least a part of the plurality of garbage container sensors; (b) calculating, based on the garbage loading amount information, Generating a first garbage collection path plan based on a first viewpoint position of the vehicle and providing the first garbage collection path plan to a navigation terminal associated with the garbage collection vehicle; and (c) When the visiting necessity is satisfied, the second garbage collection based on the second viewpoint position of the garbage collection vehicle on the basis of the uncolored garbage can not yet visited in the garbage collection path plan with respect to the plurality of garbage cans and the emergency collection request garbage can And generating a path plan.
  • the step (a) may include requesting the plurality of garbage container sensors for the garbage collection amount information if it is determined that the position of the garbage collection vehicle is not changed for a predetermined time.
  • the step (a) may include the step of requesting the plurality of garbage container sensors for the garbage loading amount information if it is determined that the existing garbage collection path planning has been performed.
  • the step (b) may include determining at least one basic trash can having a trash load amount of the top N (N is a natural number) among the trash load amount information to determine a basic trash can topology.
  • step (b) comprises: generating a basic trash collection path plan relating to the basic trash can topology on the road map, detecting an additional trash bin having a trash loading amount exceeding a specific standard on the basic trash collection path plan, And generating a plan.
  • the step (b) may further comprise the step of determining a trash box not exceeding a specific range on the basic trash collection path plan as the additional trash can.
  • step (b) comprises the steps of: generating all the trash cans on the basic trash can topology based on at least one of a road traffic volume, a moving distance, a moving time, The shortest time, the shortest time, and the minimum labor when the user visits the terminal, and generates the basic trash collection path plan.
  • the sensor-unassigned waste amount information about the specific waste container in which the waste container sensor is not disposed is received from the user terminal, the sensor-unassigned waste amount information
  • the sensor-unassigned waste amount information For example,
  • the step (c) may include determining that the necessity of the visit is satisfied when the amount of waste load exceeding a specific standard is received from the garbage can sensor associated with the emergency collection request garbage can, or when the garbage can be detected.
  • the step (c) may include determining whether to generate an emergency garbage can topology based on the relative position of the emergency collection request garbage can to the non-collection area formed through the non-visited garbage can.
  • the emergency garbage collection garbage can be determined as an additional garbage can without generating the emergency garbage can topology, and the second garbage collection route plan is generated.
  • the step (c) may further include generating the second garbage collection path plan through generation of the emergency garbage can topology when the location of the emergency collection request garbage can is not present in the non-collection area.
  • step (c) includes the steps of: generating an emergency trash collection path plan after the generation of the emergency trash can topology and detecting an additional trash bin having a trash loading amount exceeding a specific standard on the emergency trash collection path plan to generate the second trash collection path plan
  • the method comprising the steps of:
  • the garbage collection vehicle control device is connected to a plurality of garbage can sensors disposed respectively in a plurality of garbage bins and a vehicle sensor disposed in the garbage collection vehicle and providing the position of the garbage collection vehicle.
  • the garbage collection vehicle control apparatus includes a garbage storage amount information receiving unit for receiving garbage storage amount information from at least a part of the plurality of garbage container sensors, a storage unit for storing garbage collection amount information about the plurality of garbage collection vehicles on the road map on the basis of the garbage storage amount information
  • a first garbage collection path planning unit for generating a first garbage collection path plan based on a one-viewpoint position reference and providing the first garbage collection path plan to a navigation terminal associated with the garbage collection vehicle, and a first garbage collection path planning unit
  • the second garbage collection based on the second viewpoint position of the garbage collection vehicle on the basis of the uncolored garbage can not yet visited in the garbage collection path plan with respect to the plurality of garbage cans and the emergency collection request garbage can Plan your route
  • a second garbage collection path planning unit for generating
  • the recording medium includes a plurality of garbage can sensors disposed respectively in a plurality of garbage cans, and a garbage collection vehicle disposed in the garbage collection vehicle and connected to a vehicle sensor providing a position of the garbage collection vehicle,
  • the control method can be stored and computer-executable.
  • the recording medium has a function of receiving garbage loading information from at least a part of the plurality of garbage can sensors, a function of obtaining a first viewpoint position reference of the garbage collection vehicle with respect to the plurality of garbage containers on a road map based on the garbage loading amount information
  • generating a second garbage collection path plan based on a second viewpoint position of the garbage collection vehicle on the basis of the uncolored garbage can not yet visited in the garbage collection path plan and the emergency collection request garbage can.
  • the disclosed technique may have the following effects. It should be understood, however, that the scope of the disclosed technology is not to be construed as limited thereby, as it does not imply that a particular embodiment should include all of the following effects or merely include the following effects.
  • the method for controlling a garbage collection vehicle according to an embodiment of the present invention, the garbage collection vehicle control apparatus for performing the same, and the recording medium storing the same provide an optimized garbage collection path plan based on the amount of garbage cans and the operation information of the garbage collection vehicle can do.
  • the method for controlling the garbage collection vehicle according to an embodiment of the present invention, the garbage collection vehicle control device performing the same, and the recording medium storing the garbage collection vehicle control device can plan and update the optimal garbage collection path by reflecting the complex garbage collection situation in real time .
  • FIG. 1 is a view for explaining a garbage collection vehicle control system according to an embodiment of the present invention.
  • Fig. 2 is a view showing a configuration of the garbage collection vehicle control device shown in Fig. 1.
  • Fig. 2 is a view showing a configuration of the garbage collection vehicle control device shown in Fig. 1.
  • FIG. 3 is a block diagram illustrating the functional elements of the processor in Figure 2;
  • FIG. 4 is a diagram for explaining a process of generating the first trash collection path plan based on the trash collection amount information by the first trash collection path planning unit shown in FIG.
  • FIG. 5 is a diagram for explaining a process of the first garbage collection path planning unit in FIG. 3 to determine a basic garbage can topology 540 to generate a first garbage collection path plan.
  • FIG. 6 is a diagram for explaining a process of generating the emergency trash can topology by the second trash collection path planning unit in FIG.
  • FIG. 7 is a flowchart illustrating a process in which the garbage collection vehicle control apparatus shown in FIG. 1 generates a garbage collection path plan in cooperation with a plurality of garbage can sensors and a vehicle sensor and provides the generated garbage collection path plan to a navigation terminal associated with a garbage collection vehicle.
  • first and second components are intended to distinguish one element from another, and the scope of the right should not be limited by these terms.
  • first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.
  • the identification code (e.g., a, b, c, etc.) is used for convenience of explanation, the identification code does not describe the order of each step, Unless otherwise stated, it may occur differently from the stated order. That is, each step may occur in the same order as described, may be performed substantially concurrently, or may be performed in reverse order.
  • the present invention can be embodied as computer-readable code on a computer-readable recording medium
  • the computer-readable recording medium includes all kinds of recording devices for storing data that can be read by a computer system .
  • Examples of the computer-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, and the like.
  • the computer-readable recording medium may be distributed over network-connected computer systems so that computer readable codes can be stored and executed in a distributed manner.
  • FIG. 1 is a view for explaining a garbage collection vehicle control system according to an embodiment of the present invention.
  • a garbage collection vehicle control system 100 includes a garbage collection vehicle control device 110, a plurality of garbage can sensors 120, a vehicle sensor 130, a navigation terminal 140, and a user terminal 150, And they may be connected via a network.
  • the garbage collection vehicle control apparatus 110 corresponds to a computing apparatus that can be connected to a network through a plurality of garbage can sensors 120, a vehicle sensor 130, a navigation terminal 140 and a user terminal 150, A plurality of garbage can sensors 120 and a vehicle sensor 130 can be connected to the navigation terminal 140 and the user terminal 150 through a low-power wide-area network, And can be connected through a mobile communication network.
  • the garbage collection vehicle control device 110 can manage the association between the garbage collection vehicle identifier associated with the garbage collection vehicle 20 and the navigation identifier associated with the navigation terminal 140, It is possible to provide and manage information related to the garbage collection situation.
  • the garbage collection vehicle control apparatus 110 includes a garbage can identification associated with each of a plurality of garbage cans 10, a garbage can sensor identifier associated with each of the plurality of garbage can sensors 120, For example, manage the information received from the first garbage can sensor 120a in association with the first garbage can 10a associated with the sensor and its associated first administrative address.
  • the garbage collection vehicle control apparatus 110 can be linked to the navigation terminal 140 through the garbage collection application installed in the navigation terminal 140, and for example, the garbage collection application can be executed in the mobile device It can be implemented as a mobile application.
  • the plurality of garbage can sensors 120 are disposed in the plurality of garbage cans 10, respectively.
  • Each of the plurality of garbage can sensors 120 may sense the amount of garbage inside the garbage can, and in one embodiment may be implemented with an infrared sensor, an ultrasonic sensor, or a laser sensor.
  • each of the plurality of garbage can sensors 120 may transmit the garbage collection amount information to the garbage collection vehicle control device 110 when the amount of garbage to be sensed in the disposed garbage can 10 is equal to or greater than the reference amount.
  • the vehicle sensor 130 is disposed in the garbage collection vehicle 20 to provide the position of the garbage collection vehicle 20.
  • the vehicle sensor 130 may acquire current position information at a specific period, aperiodically, or at the request of the garbage collection vehicle control device 110 and transmit it to the garbage collection vehicle control device 110.
  • the vehicle sensor 130 may be implemented with a GPS sensor capable of receiving GPS (Global Positioning System) signals to obtain position information.
  • GPS Global Positioning System
  • the navigation terminal 140 corresponds to a computing device that can be connected to the garbage collection vehicle control device 110 via a network, and may be implemented by, for example, navigation or AVN (Audio Video Navigation) It may be implemented as a smartphone or a tablet PC.
  • the navigation terminal 140 can be disposed in the garbage collection vehicle 20 and can receive and visualize the garbage collection path plan from the garbage collection vehicle control device 110 through the garbage collection application, When a collection request relating to a specific trash bin 10 or a user interaction associated with anomaly detection is received, it may be transmitted to the garbage collection vehicle controller 110.
  • the user terminal 150 corresponds to a computing device that can be connected to the garbage collection control device 110 via a network, and can be implemented, for example, as a desktop, a notebook, a tablet PC, or a smart phone.
  • the user terminal 150 can be connected to the garbage collection vehicle control device 110 through the garbage collection application when the garbage collection application is installed, The garbage can be transferred to the garbage collection vehicle control apparatus 110.
  • Fig. 2 is a block diagram showing the garbage collection vehicle control apparatus shown in Fig. 1.
  • Fig. 2 is a block diagram showing the garbage collection vehicle control apparatus shown in Fig. 1.
  • the garbage collection vehicle control apparatus 110 may include a processor 210, a memory 220, a user input / output unit 230, and a network input / output unit 240.
  • the processor 210 may execute the garbage collection vehicle control procedure shown in FIG. 7, and may manage the memory 220 to be read or written in this process, and may be stored in the memory 220 between the volatile memory and the non- Synchronization time can be scheduled.
  • the processor 210 can control the overall operation of the garbage collector control device 110 and is electrically connected to the memory 220, the user input / output unit 230 and the network input / output unit 240, Can be controlled.
  • the processor 210 may be implemented as a CPU (Central Processing Unit) of the garbage collection vehicle control apparatus 110.
  • CPU Central Processing Unit
  • the memory 220 may include an auxiliary storage device, which is implemented as a nonvolatile memory such as a solid state disk (SSD) or a hard disk drive (HDD), and is used to store data necessary for the garbage collection vehicle control apparatus 110 And a main memory implemented with a volatile memory such as a RAM (Random Access Memory).
  • a nonvolatile memory such as a solid state disk (SSD) or a hard disk drive (HDD)
  • HDD hard disk drive
  • main memory implemented with a volatile memory such as a RAM (Random Access Memory).
  • the user input and output unit 230 includes an environment for receiving user input and an environment for outputting specific information to a user and may be a mouse, a trackball, a touch pad, a graphic tablet, a scanner, a touch screen, An input device including an adapter such as a device, and an output device including an adapter such as a monitor.
  • the user input / output unit 230 may correspond to a computing device connected via a remote connection, and in such a case, the garbage collection control device 110 may be implemented as a server.
  • the network input / output unit 240 includes a communication environment for connecting to at least one of the plurality of garbage can sensors 120, the vehicle sensor 130, the navigation terminal 140, and the user terminal 150.
  • And may include an adapter for local area network (LAN) communication
  • FIG. 3 is a block diagram illustrating the functional elements of the processor in Figure 2;
  • the processor 210 may include a garbage loading information receiving unit 310, a first garbage collection path planning unit 320, a second garbage collection path planning unit 330, and a control unit 340 .
  • the trash load information receiving unit 310 may receive the trash load information from at least one of the plurality of trash can sensors 120.
  • the garbage pick-up amount information receiving unit 310 can receive the corresponding garbage pick-up amount information from each of at least parts of the plurality of garbage can sensors 120 that have detected a waste amount of the reference load amount (for example, 70% have.
  • the reference load amount can be set by a designer or a user, and can be adjusted under a user request.
  • each of the plurality of the garbage can sensors 120 will be described on the assumption that the garbage loading amount information is not transmitted when the garbage is not sufficiently loaded beyond the reference load amount, but the present invention is not limited thereto.
  • the garbage-receipt-information receiving unit 310 may set and transmit a different reference loading amount for each of the plurality of garbage container sensors 120, and each of the plurality of garbage container sensors 120 may set the reference loading amount It is possible to determine whether or not to transmit the garbage storage amount information to the garbage storage amount information receiving unit 310.
  • the garbage collection amount information receiving unit 310 can manage the number of management requests received from the user terminal 150 and associated with the specific garbage can 10, and the number of management requests received during a specific time interval is used as the reference number It is possible to detect the excess trash bin 10 and adjust the reference trunk amount of the trash bin 10 to a predetermined specific amount or a specific ratio.
  • the garbage pick-up amount information receiving unit 310 can request garbage pick-up amount information to the plurality of garbage can sensors 120 when it is determined that the position of the garbage collecting vehicle 20 is not changed for a specific time.
  • the garbage pick-up amount information receiving unit 310 receives the position information (for example, the administrative address) received from the vehicle sensor 130 disposed in the garbage collection vehicle 20 for a predetermined first time (E.g., waiting or resting request) from the navigation terminal 140 associated with the garbage collection vehicle 20 is received, the position of the garbage collection vehicle 20 is changed to a specific time It is possible to request that all of the plurality of garbage can sensors 120 update the garbage loading information at the time and transmit the updated information.
  • the garbage storage amount information receiving unit 310 can request garbage storage amount information to the plurality of garbage can sensors 120 when it is determined that the existing garbage collection path planning has been performed.
  • the garbage collection amount information receiving unit 310 can allocate a garbage collection path plan for each garbage collection vehicle 20 and provide it to the navigation terminal 140 associated with the garbage collection vehicle 20, The user can receive and manage the progress of the provided garbage collection path plan periodically or non-periodically from the storage unit 140. When the completion of the provided garbage collection path plan is received, It may request to update the garbage loading information and transmit it.
  • the garbage loading amount information receiving unit 310 periodically requests the garbage container sensors 120 to load the garbage loading amount information and track the progress of the garbage collection path plan allocated to each garbage collection vehicle 20 have.
  • the first garbage collection path planning unit 320 generates a first garbage collection path plan based on the first viewpoint position of the garbage collection vehicle 20 on the plurality of garbage bins 10 on the road map based on the garbage loading amount information To the navigation terminal (140) associated with the garbage collection vehicle (20). This will be described with reference to FIG.
  • FIG. 4 is a diagram for explaining a process of generating the first trash collection path plan based on the trash collection amount information by the first trash collection path planning unit shown in FIG.
  • the first garbage collection path planning unit 320 calculates the garbage collection vehicle position (the first garbage collection path) based on the position information received most recently or at the time from the vehicle sensor 130 in the process of generating the first garbage collection path plan 410), and at least a part of the plurality of garbage cans (10) receiving the garbage loading amount information from the garbage container sensor (120) after the most recent garbage collection is managed by the garbage storage garbage cans (420) The remaining non-receivable information of the garbage can be managed by the garbage non-overflow garbage can 430.
  • the first garbage collection path planning unit 320 can generate the first garbage collection path plan on the road map based on the garbage collection vehicle location 410, the waste overflow garbage can 420, and the non-overflow garbage can 430 .
  • the first garbage collection path planning unit 320 sets the garbage collection vehicle position 410 to the starting point of the path, and moves toward the first garbage collection bin 420a closest to the garbage collection vehicle position 410 And a non-overflowing material container (420) which forms a plurality of waste collection paths with a higher weight than that of the non-overflowing material container (430) in a waste overflowing trash can (420) To generate a first garbage collection path plan that allows the garbage can 430 to pass through.
  • the first garbage collection path planning unit 320 considers garbage storage amount information, but does not necessarily plan only the garbage collection path for the garbage cans.
  • the first garbage collection path planning unit 320 may reflect the reception time of the garbage storage amount information to the first garbage collection path plan. For example, the first garbage collection path planning unit 320 calculates the garbage collection amount information of a plurality of garbage cans 10 in the administrative area of the garbage collection target, And the M garbage cans can be given priority in the process of generating the garbage collection route.
  • the first garbage collection path planning unit 320 receives the sensor-unassigned garbage storage amount information regarding the specific garbage bin to which the garbage can sensor sensor is not disposed from the user terminal 150, The first garbage collection path plan can be generated with further consideration of the information. For example, the first garbage collection path planning unit 320 analyzes the garbage bin identifier and the sensor-unassigned garbage storage amount information received from the user terminal 150, and determines whether or not the garbage bin identifier The garbage collection bag 420 can be included in the garbage collection bag 420 or the non-overflow garbage bag 430 to create or update the first garbage collection path plan.
  • the first garbage collection path planning unit 320 can detect the basic garbage can topology 540 by detecting at least one basic garbage can 520 having the garbage load amount of the top N (N is a natural number) among the garbage loading amount information . This will be described with reference to FIG.
  • FIG. 5 is a diagram for explaining a process of the first garbage collection path planning unit in FIG. 3 to determine a basic garbage can topology 540 to generate a first garbage collection path plan.
  • the first garbage collection path planning unit 320 compares the received garbage storage amount information with the absolute value of the garbage storage amount sensed in each garbage can or the relative value with respect to the reference storage amount ratio of each garbage can
  • the basic trash can topology 540 can be formed which can detect the N basic trash cans 520 in the most loaded order and connect the detected locations of the basic trash cans in a plan view on the road map.
  • the first garbage collection path planning unit 320 may form a basic garbage can topology 540 within a specific area in various forms including circular, triangular, square, and more polygons, It may be formed on the basis of a driveway that can be moved by car on the map.
  • the first garbage collection path planning unit 320 generates a basic garbage collection path plan relating to the basic garbage can topology 540 on the road map and adds additional garbage can 530 having a garbage storage amount exceeding a specific standard on the basic garbage collection path plan And generate a first garbage collection path plan. For example, as shown in FIG.
  • the first garbage collection path planning unit 320 calculates the garbage collection amount of three basic garbage cans 520 in the basic garbage can topology 540 based on the garbage collection vehicle location 510 It is possible to detect two additional garbage bins 530 having a garbage loading amount equal to or greater than a preset reference load amount among the garbage bins in the spatial region of the basic garbage can topology 540 , And generates the first garbage collection path plan so as to form the shortest path via the additional garbage can 530 in the collection process of the basic garbage cans 520 by reflecting the detected two additional garbage cans 530 to the basic garbage collection path plan can do.
  • the first garbage collection path planning unit 320 can determine a garbage can as an additional garbage can 530 that does not deviate more than a certain range on the basic garbage collection path plan.
  • the first garbage collection path planning unit 320 can detect garbage cans within a certain distance range even though they are not in the space area of the basic garbage can topolo 540 and can include them in the additional garbage cans 530.
  • the distance range can be set by the designer or the user and can be adjusted up or down to reflect the garbage collection situation.
  • the first garbage collection path planning unit 320 generates the basic garbage collection topology 540 based on at least one of the road traffic volume, the moving distance, the movement time, and the collection manpower management cost at the first point in the process of generating the basic garbage collection path plan.
  • the shortest time, the shortest time, and the minimum labor cost when all of the garbage cans on the land are visited can be calculated to generate a basic garbage collection path plan.
  • the first garbage collection path planning unit 320 can generate a basic garbage collection path plan based on the shortest time by preferentially considering the traffic volume when the current time corresponds to the traffic congestion time range, In the case of a non-urban area that does not fall within the time range, the basic waste collection plan based on the minimum labor cost can be generated with priority given to the minimum labor cost. In other cases, the shortest distance is taken into consideration first, You can create a collection path plan.
  • the second garbage collection path planning unit 330 is not yet visited in the garbage collection path plan with respect to the plurality of garbage bins 10 when a visit need for an unplanned emergency collection request garbage can is satisfied in the first garbage collection path plan
  • the second garbage collection path plan based on the second viewpoint position of the garbage collection vehicle 20 can be generated based on the uncolored garbage can and the emergency collection request garbage can.
  • the second garbage collection path planning unit 330 also considers the garbage storage amount information, but does not necessarily plan only the garbage collection path associated with the garbage cans, but rather the garbage collection path between the uncolored garbage cans not yet visited and the emergency collection request garbage cans You can also collect other garbage cans.
  • the second garbage collection path planning unit 330 can receive the garbage storage amount information and the emergency collection request from at least one of the plurality of garbage container sensors 120 that detects the garbage storage amount exceeding the reference emergency storage amount, (10) can be determined as the emergency collection request trash can.
  • the second garbage collection path planning unit 330 may be configured such that when a garbage load amount exceeding a certain standard is received from the garbage can sensor (for example, 120a) associated with the garbage collection garbage can 630, Can be determined to be satisfied.
  • the specific criterion may have a value larger than a reference load for judging whether the amount of waste is large or small in the process of generating the first trash collection path plan.
  • the second garbage collection path planning unit 330 may receive abnormality detection from the garbage can container sensor 120 or detect an abnormality related to the specific garbage can 10 from the user terminal 150 Lt; / RTI >
  • the second garbage collection path planning unit 330 calculates a visit necessity determination index for determining whether or not the visit necessity is satisfied based on the following equation (1), and if the visit necessity determination index satisfies a predetermined reference value or more It can be determined that the need to visit has been met. For example, the second garbage collection path planning unit 330 assumes that a specific reference value is set to 2, l0 is set to 0.6, the garbage loading rate load of the emergency collection request garbage can 630 is detected as 0.9 Assuming that the garbage can be detected as type t 2 (appearance damage), it can be determined that the visit need determination index s is calculated to be 2.1.
  • the detection type of the trash can t can be set to a natural number of 1 or more and 5 or less. If the sensor on the back side is faulty, if it is 4, the odor is generated, and if it is 5, it is set to the waste supersaturation.
  • load represents a trash loading rate of the emergency collection request garbage can 630, which is a prime number larger than 0 and smaller than 1
  • load 0 is a prime number larger than 0 and smaller than 1
  • the second garbage collection path planning unit 330 generates the emergency garbage can topology 650 based on the relative position of the emergency collection request garbage can 630 to the uncolored area 640 formed through the unviewed garbage can 620 that has not yet been visited ) Can be determined. This will be described in more detail with reference to FIG.
  • FIG. 6 is a diagram for explaining a process of generating the emergency trash can topology by the second trash collection path planning unit in FIG.
  • the second garbage collection path planning unit 330 calculates the garbage collection vehicle location 610 based on the garbage collection vehicle location 610 when the visit necessity for the emergency collection request garbage can 630 is satisfied,
  • the non-collection area 650 is determined to be formed in a plan view so as to include the non-collection garbage bins 620 on the road map by detecting the collection garbage bins 620,
  • the generation of the emergency trash can topology 650 can be determined if the trash can is within a predetermined distance range.
  • the second garbage collection path planning unit 330 may add the emergency collection request garbage can 630 without creating the emergency garbage can topology 650 when the location of the emergency collection request garbage can 630 is present in the non- For example, the garbage cans visited in the first garbage collection path plan are removed and the garbage collection path 630 of the garbage collection path remaining among the remaining garbage collection paths can be determined as the garbage can 530, The shortest distance, the shortest time, and the least labor cost based on the second garbage collection path plan.
  • the second garbage collection path planning unit 330 may designate the second garbage collection path plan through the generation of the emergency garbage can topology 650 when the location of the emergency collection request garbage can 630 is not present in the non- Can be generated.
  • the second garbage collection path planning unit 330 is a plan view including the location of the emergency collection request garbage can 630 on the road map in the same or different form within a smaller area area than the basic garbage can topology 540
  • the emergency trash can topology 650 can be generated.
  • the second garbage collection path planning unit 330 generates an emergency garbage collection path plan after generation of the emergency garbage can topology 650 and detects an additional garbage bin 530 having a garbage load amount exceeding a specific standard on the emergency garbage collection path schedule To generate a second garbage collection path plan.
  • the second garbage collection path planning unit 330 calculates at least the road traffic volume, the moving distance, the moving time, and the collection manpower management cost at the second point in time within the space area of the generated emergency trash can topology 650
  • the second garbage collection path plan can be generated by calculating at least one of the shortest distance, the shortest time, and the minimum labor when all garbage cans on the emergency collection request garbage can 630 are visited on the basis of one. In this process, the second garbage collection path planning unit 330 can generate and update the second garbage collection path plan in a direction via the additional garbage can 530 having a garbage load amount exceeding a certain standard.
  • the control unit 340 can control the overall operation of the processor 210 and control the data flow between the waste storage amount information receiving unit 310, the first waste collection path planning unit 320 and the second waste collection path planning unit 330 Can be controlled.
  • FIG. 7 is a flowchart illustrating a process in which the garbage collection vehicle control apparatus shown in FIG. 1 generates a garbage collection path plan in cooperation with a plurality of garbage can sensors and a vehicle sensor and provides the generated garbage collection path plan to a navigation terminal associated with a garbage collection vehicle.
  • the garbage storage amount information receiving unit 310 receives garbage storage amount information from at least some of the plurality of garbage can sensors 120 (step S710).
  • the first garbage collection path planning unit 320 generates a first garbage collection path plan based on the first viewpoint position of the garbage collection vehicle 20 on the plurality of garbage bins 10 on the road map based on the garbage loading amount information To the navigation terminal 140 associated with the garbage collection vehicle 20 (step S720).
  • the second garbage collection path planning unit 330 is not yet visited in the garbage collection path plan with respect to the plurality of garbage bins 10 when a visit need for an unplanned emergency collection request garbage can is satisfied in the first garbage collection path plan
  • the second garbage collection path plan based on the second viewpoint position of the garbage collection vehicle 20 is generated based on the non-collected garbage can and the emergency collection request garbage can (step S730).
  • garbage collection vehicle control device 120 plural garbage container sensors

Landscapes

  • Business, Economics & Management (AREA)
  • Tourism & Hospitality (AREA)
  • Engineering & Computer Science (AREA)
  • Marketing (AREA)
  • Strategic Management (AREA)
  • Economics (AREA)
  • General Health & Medical Sciences (AREA)
  • Human Resources & Organizations (AREA)
  • Theoretical Computer Science (AREA)
  • Primary Health Care (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Business, Economics & Management (AREA)
  • General Physics & Mathematics (AREA)
  • Development Economics (AREA)
  • Educational Administration (AREA)
  • Mechanical Engineering (AREA)
  • Refuse-Collection Vehicles (AREA)

Abstract

La présente invention concerne un procédé de commande de véhicule de collecte de déchets qui est exécuté par un appareil de commande de véhicule de collecte de déchets connecté à de multiples capteurs de conteneurs de déchets disposés respectivement dans de multiples conteneurs de déchets, et un capteur de véhicule qui est disposé dans un véhicule de collecte de déchets et qui fournit un emplacement du véhicule de collecte de déchets. Le procédé de commande de véhicule de collecte de déchets comprend les étapes consistant à : (a) recevoir des éléments d'informations de chargement de déchets à partir d'au moins certains capteurs des multiples capteurs de conteneurs de déchets ; (b) générer un premier plan de trajet de collecte de déchets sur la base d'un premier emplacement de point temporel du véhicule de collecte de déchets par rapport aux multiples conteneurs de déchets sur une carte routière sur la base des éléments d'informations de chargement de déchets, et fournir celui-ci à un terminal de navigation associé au véhicule de collecte de déchets ; et (c) lorsqu'un besoin de visiter un emplacement d'un conteneur de déchets, la collecte de celui-ci ayant été demandée en urgence et qui n'est pas incluse dans le premier plan de trajet de collecte de déchets, est satisfait, par rapport aux multiples conteneurs de déchets, générer un second plan de trajet de collecte de déchets sur la base d'un second emplacement de point temporel du véhicule de collecte de déchets sur la base de conteneurs de déchets non collectés, les emplacements de ceux-ci n'ayant pas encore été visités dans le premier plan de trajet de collecte de déchets, et du conteneur de déchets, dont la collecte a été demandée de manière urgente.
PCT/KR2018/012186 2017-11-30 2018-10-16 Procédé de commande de véhicule de collecte de déchets, appareil de commande de véhicule de collecte de déchets pour le mettre en œuvre, et support d'enregistrement sur lequel est enregistré celui-ci WO2019107738A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020170162964A KR101967137B1 (ko) 2017-11-30 2017-11-30 쓰레기 수거 차량제어 방법, 이를 수행하는 쓰레기 수거 차량제어 장치 및 이를 저장하는 기록매체
KR10-2017-0162964 2017-11-30

Publications (1)

Publication Number Publication Date
WO2019107738A1 true WO2019107738A1 (fr) 2019-06-06

Family

ID=66167393

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2018/012186 WO2019107738A1 (fr) 2017-11-30 2018-10-16 Procédé de commande de véhicule de collecte de déchets, appareil de commande de véhicule de collecte de déchets pour le mettre en œuvre, et support d'enregistrement sur lequel est enregistré celui-ci

Country Status (2)

Country Link
KR (1) KR101967137B1 (fr)
WO (1) WO2019107738A1 (fr)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110991770A (zh) * 2019-12-24 2020-04-10 上海龙澄专用车辆有限公司 一种新型垃圾清运方法、系统及垃圾清运车
CN111652782A (zh) * 2020-06-11 2020-09-11 贵州小黑科技有限公司 基于多元数据的乡村垃圾收运作业系统
CN112577435A (zh) * 2020-12-21 2021-03-30 南京四维星软件有限公司 一种危废检测装置及其检测方法
CN112833899A (zh) * 2020-12-31 2021-05-25 吉林大学 一种用于无人环卫车的全覆盖路径规划方法
CN112985437A (zh) * 2021-02-05 2021-06-18 国网吉林省电力有限公司长春供电公司 灾区场景下路径导航方法及装置
CN113762624A (zh) * 2021-09-09 2021-12-07 安徽自然美环境科技有限公司 一种垃圾清运车路线优化方法及城市垃圾清运生态系统
CN113780680A (zh) * 2021-09-27 2021-12-10 京东方科技集团股份有限公司 垃圾桶的管理方法、装置、电子设备、存储介质及程序
CN113879732A (zh) * 2021-08-31 2022-01-04 深圳市康索特软件有限公司 一种垃圾清运调度方法及装置
CN115983504A (zh) * 2023-03-18 2023-04-18 中环洁集团股份有限公司 一种道路垃圾点位预测方法、系统、设备以及存储介质
CN116882864A (zh) * 2023-07-17 2023-10-13 中环洁(北京)环境科技有限公司 带导航功能的调度指引方法、系统、终端及存储介质

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102408006B1 (ko) * 2019-06-25 2022-06-10 노원일 상호 체결 가능한 복수의 무인 비행 장치를 이용한 쓰레기 수거 시스템
KR102087091B1 (ko) * 2019-06-25 2020-03-10 노원일 드론을 이용한 쓰레기 수거 시스템
KR102392054B1 (ko) * 2020-07-08 2022-04-28 제주대학교 산학협력단 쓰레기 운반 차량의 최적 경로 추천 방법 및 시스템
CN112849850A (zh) * 2021-01-04 2021-05-28 广州市美丽小镇发展研究院 垃圾治理系统、方法、装置和存储介质
KR102537396B1 (ko) * 2021-02-23 2023-05-26 김기용 가로 청소 관리 시스템 및 방법
CN113627510B (zh) * 2021-08-04 2023-01-06 浙江联运知慧科技有限公司 垃圾分类的应用处理系统
CN114104550B (zh) * 2021-12-01 2023-04-18 北京云迹科技股份有限公司 移动机器人楼宇垃圾回收方法及相关设备
CN114118615A (zh) * 2021-12-06 2022-03-01 中关村科学城城市大脑股份有限公司 智能垃圾清运调度方法及相关设备
CN114313697B (zh) * 2022-01-07 2023-04-07 海南康泰旅游股份有限公司 一种旅游景区的垃圾管理系统

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006018443A (ja) * 2004-06-30 2006-01-19 Sumitomo Electric Ind Ltd 車両巡回計画立案装置、車両巡回計画立案方法、車両巡回計画立案方法をコンピュータに実行させるためのプログラムおよびそのプログラムを記録したコンピュータ読取り可能な記録媒体
KR20100092854A (ko) * 2009-02-13 2010-08-23 김영남 쓰레기 수거 관리 시스템 및 그의 관리 방법
KR20100128165A (ko) * 2009-05-27 2010-12-07 주이스 주식회사 쓰레기처리 관제시스템과 그 제어방법 및 이에 사용되는 쓰레기 수거장치
KR20130007294A (ko) * 2011-06-30 2013-01-18 주식회사 알투소프트 폐기물 처리 통합 시스템 및 방법
KR20170077684A (ko) * 2015-12-28 2017-07-06 주식회사 이큐브랩 폐기물 수거 관리 방법 및 그 시스템

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101763729B1 (ko) 2015-11-24 2017-08-16 주식회사 이마스 폐기물 수거차의 최적 이동 경로 결정 방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006018443A (ja) * 2004-06-30 2006-01-19 Sumitomo Electric Ind Ltd 車両巡回計画立案装置、車両巡回計画立案方法、車両巡回計画立案方法をコンピュータに実行させるためのプログラムおよびそのプログラムを記録したコンピュータ読取り可能な記録媒体
KR20100092854A (ko) * 2009-02-13 2010-08-23 김영남 쓰레기 수거 관리 시스템 및 그의 관리 방법
KR20100128165A (ko) * 2009-05-27 2010-12-07 주이스 주식회사 쓰레기처리 관제시스템과 그 제어방법 및 이에 사용되는 쓰레기 수거장치
KR20130007294A (ko) * 2011-06-30 2013-01-18 주식회사 알투소프트 폐기물 처리 통합 시스템 및 방법
KR20170077684A (ko) * 2015-12-28 2017-07-06 주식회사 이큐브랩 폐기물 수거 관리 방법 및 그 시스템

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110991770A (zh) * 2019-12-24 2020-04-10 上海龙澄专用车辆有限公司 一种新型垃圾清运方法、系统及垃圾清运车
CN111652782A (zh) * 2020-06-11 2020-09-11 贵州小黑科技有限公司 基于多元数据的乡村垃圾收运作业系统
CN112577435B (zh) * 2020-12-21 2023-03-28 南京四维星软件有限公司 一种危废检测装置及其检测方法
CN112577435A (zh) * 2020-12-21 2021-03-30 南京四维星软件有限公司 一种危废检测装置及其检测方法
CN112833899A (zh) * 2020-12-31 2021-05-25 吉林大学 一种用于无人环卫车的全覆盖路径规划方法
CN112833899B (zh) * 2020-12-31 2022-02-15 吉林大学 一种用于无人环卫车的全覆盖路径规划方法
CN112985437A (zh) * 2021-02-05 2021-06-18 国网吉林省电力有限公司长春供电公司 灾区场景下路径导航方法及装置
CN113879732A (zh) * 2021-08-31 2022-01-04 深圳市康索特软件有限公司 一种垃圾清运调度方法及装置
CN113762624A (zh) * 2021-09-09 2021-12-07 安徽自然美环境科技有限公司 一种垃圾清运车路线优化方法及城市垃圾清运生态系统
CN113780680A (zh) * 2021-09-27 2021-12-10 京东方科技集团股份有限公司 垃圾桶的管理方法、装置、电子设备、存储介质及程序
CN115983504A (zh) * 2023-03-18 2023-04-18 中环洁集团股份有限公司 一种道路垃圾点位预测方法、系统、设备以及存储介质
CN115983504B (zh) * 2023-03-18 2023-06-13 中环洁集团股份有限公司 一种道路垃圾点位预测方法、系统、设备以及存储介质
CN116882864A (zh) * 2023-07-17 2023-10-13 中环洁(北京)环境科技有限公司 带导航功能的调度指引方法、系统、终端及存储介质

Also Published As

Publication number Publication date
KR101967137B1 (ko) 2019-04-09

Similar Documents

Publication Publication Date Title
WO2019107738A1 (fr) Procédé de commande de véhicule de collecte de déchets, appareil de commande de véhicule de collecte de déchets pour le mettre en œuvre, et support d'enregistrement sur lequel est enregistré celui-ci
WO2020040398A1 (fr) Système de gestion intégré pour commander un véhicule de ramassage des ordures et produire un sac à ordures à compteur, passer une commande pour celui-ci et procéder à son ramassage
WO2012157850A2 (fr) Système et procédé de mise à jour de données de cartes en temps réel
WO2012020929A2 (fr) Appareil et procédé d'affichage d'un point d'intérêt
KR100941171B1 (ko) 버스정보시스템의 버스 도착 시간 표출 장치 및 방법
WO2018052204A1 (fr) Robot d'aéroport et système le comprenant
WO2011021899A2 (fr) Procédé et dispositif pour générer, gérer et partager un chemin mobile
WO2016013810A1 (fr) Procédé et dispositif d'exploitation pour informations de catastrophes
WO2010131842A2 (fr) Appareil et système de navigation, et leur procédé de fonctionnement
WO2015099387A1 (fr) Système de gestion du trafic intelligent
WO2013005912A1 (fr) Système de navigation utilisant une technologie informatique en nuage, procédé de gestion de celui-ci et support d'enregistrement pouvant être lu par ordinateur pour enregistrement d'un programme pour le système et le procédé
WO2021085771A1 (fr) Système de commande de signal de trafic hybride et procédé associé
WO2005020099A1 (fr) Dispositif electronique capturant et affichant des donnees d'image et des informations de position correspondante, et affichant la position en cours, les donnees d'image et le chemin menant a la position correspondante a partir d'une base de donnees cartographique
WO2015065131A1 (fr) Système pour collecter et partager des informations d'accident de la circulation au moyen de boîtes noires et de téléphones intelligents, et son procédé
JP2021026274A (ja) 報告書作成支援システム、サーバ装置、及びコンピュータプログラム
JP2012190072A (ja) 車両の状況管理システム及び車両の状況管理方法
KR20120103352A (ko) 차량 주행기록장치와 이를 이용한 운행 관제 시스템 및 방법
WO2011090296A2 (fr) Système de navigation, serveur connecté à ce système et procédé de commande de navigation de véhicule
CN113269976B (zh) 定位方法和装置
CN104660684A (zh) 一种用于更新路网数据信息的方法和装置
WO2014007473A1 (fr) Système de navigation pouvant être détaché
WO2023096151A1 (fr) Robot et son procédé de commande
JP2018207401A (ja) 車載無線通信装置および通信制御方法
WO2013157767A1 (fr) Procédé et dispositif permettant d'utiliser l'ordre des articles d'une liste comme identifiant
KR20160117985A (ko) 녹화 영상 중개 서비스 방법 및 시스템

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18884470

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18884470

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 20/01/2021)

122 Ep: pct application non-entry in european phase

Ref document number: 18884470

Country of ref document: EP

Kind code of ref document: A1