Patent Publication Number: US-2022226986-A1

Title: Garbage box, garbage collection system, and garbage collection method

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims priority to Japanese Patent Application No. 2021-008014 filed on Jan. 21, 2021, incorporated herein by reference in its entirety. 
     BACKGROUND 
     1. Technical Field 
     The present disclosure relates to a garbage box, a garbage collection system and a garbage collection method. 
     2. Description of Related Art 
     A technology for collecting garbage has been proposed. For example, a delivery robot disclosed in Japanese Unexamined Patent Application Publication No. 2005-330019 (JP 2005-330019 A) transports a garbage box by entering space below the garbage box and supporting the garbage box from below. 
     SUMMARY 
     The delivery robot described in JP 2005-330019 A does not collect only the garbage in the garbage box, but collects the garbage box housing the garbage. Therefore, a work for taking the garbage out of the garbage box is not considered, and the garbage cannot be efficiently collected. 
     The present disclosure has been made in light of the above circumstance, and has an object to provide a garbage box, a garbage collection system and a garbage collection method that make it possible to efficiently collect the garbage by an autonomous mobile robot. 
     An aspect of the present disclosure for achieving the above object is a garbage box including an opening-closing unit and a switch on a predetermined surface, the switch being a switch by which the opening-closing unit is opened, the garbage box being installed such that the predetermined surface faces a base surface with a predetermined interval from the base surface, the base surface being a floor surface or a ground surface. 
     With this garbage box, the autonomous mobile robot below the garbage box can easily operate the switch. Further, it is possible to load garbage on the autonomous mobile robot by the drop of the garbage in the garbage box. Accordingly, it is possible to efficiently collect the garbage by the autonomous mobile robot. 
     In the above aspect, the garbage box may be capable of changing a facing state between a state where the predetermined surface faces the base surface and a state where the predetermined surface does not face the base surface. 
     Thereby, it is possible to switch installation manner of the garbage box depending on situation, and therefore, it is possible to enhance convenience for operation. 
     In the above aspect, the garbage box may change the facing state to the state where the predetermined surface faces the base surface, when the garbage box detects that the autonomous mobile robot has come to the vicinity of the garbage box. 
     Thereby, it is possible to automatically change the attitude of the garbage box to an attitude suitable for the collection of the garbage. 
     Another aspect of the present disclosure for achieving the above object is a garbage collection system including a garbage box and an autonomous mobile robot, the garbage box including an opening-closing unit and a switch on a predetermined surface, the switch being a switch by which the opening-closing unit is opened, the garbage box being installed such that the predetermined surface faces a base surface with a predetermined interval from the base surface, the base surface being a floor surface or a ground surface, the autonomous mobile robot operating the switch. 
     With this garbage collection system, the autonomous mobile robot below the garbage box can easily operate the switch. Further, it is possible to load the garbage on the autonomous mobile robot by the drop of the garbage in the garbage box. Accordingly, it is possible to efficiently collect the garbage by the autonomous mobile robot. 
     In the above aspect, the autonomous mobile robot may include a placement unit on which garbage in the garbage box is placed, the placement unit being capable of rising and falling, and the autonomous mobile robot may operate the switch using the placement unit. 
     With this configuration, the autonomous mobile robot can operate the switch, even when the autonomous mobile robot does not include a special arm for operating the switch. 
     In the above aspect, the autonomous mobile robot may operate the switch in a vertical direction, by causing the placement unit to rise. 
     Thereby, it is possible to operate a switch that can be operated from a lower side, without using a special arm for operating the switch. 
     In the above aspect, the autonomous mobile robot may operate the switch in a horizontal direction, by moving in a state where the height of the placement unit is a predetermined height. 
     Thereby, it is possible to operate a switch that can be operated from a lateral side, without using a special arm for operating the switch. 
     In the above aspect, the autonomous mobile robot may cause the placement unit to rise at a predetermined position. 
     Thereby, it is possible to soften the impact when the autonomous mobile robot receives the garbage. 
     In the above aspect, the autonomous mobile robot may cause the placement unit to rise at a predetermined position, and may cause the placement unit to fall in tune with an action in which the opening-closing unit is opened downward. 
     Thereby, it is possible to soften the impact when the autonomous mobile robot receives the garbage. 
     Another aspect of the present disclosure for achieving the above object is a method for collecting garbage in a garbage box, the garbage box including an opening-closing unit and a switch on a predetermined surface, the switch being a switch by which the opening-closing unit is opened, the garbage box being installed such that the predetermined surface faces a base surface with a predetermined interval from the base surface, the base surface being a floor surface or a ground surface, an autonomous mobile robot moving to the position of the garbage box, the autonomous mobile robot operating the switch. 
     With this garbage collection method, the autonomous mobile robot below the garbage box can easily operate the switch. Further, it is possible to load the garbage on the autonomous mobile robot by the drop of the garbage in the garbage box. Accordingly, it is possible to efficiently collect the garbage by the autonomous mobile robot. 
     With the present disclosure, it is possible to provide a garbage box, a garbage collection system and a garbage collection method that make it possible to efficiently collect the garbage by the autonomous mobile robot. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Features, advantages, and technical and industrial significance of exemplary embodiments of the disclosure will be described below with reference to the accompanying drawings, in which like signs denote like elements, and wherein: 
         FIG. 1  is a schematic diagram showing an example of a configuration of a garbage collection system according to Embodiment 1; 
         FIG. 2  is a schematic diagram showing a state where an opening-closing unit is opened; 
         FIG. 3  is a perspective view showing a schematic configuration of an autonomous mobile robot according to the embodiment; 
         FIG. 4  is a lateral view showing a schematic configuration of the autonomous mobile robot according to the embodiment; 
         FIG. 5  is a block diagram showing a schematic system configuration of the autonomous mobile robot according to the embodiment; 
         FIG. 6  is a schematic view showing an example of a manner in which the autonomous mobile robot operates a switch of a garbage box according to Embodiment 1; 
         FIG. 7  is a schematic view showing another example of the manner in which the autonomous mobile robot operates the switch of the garbage box according to Embodiment 1; 
         FIG. 8A  is a schematic diagram for describing a control by a control unit at the time of collection of the garbage; 
         FIG. 8B  is a schematic diagram for describing the control by the control unit at the time of the collection of the garbage; 
         FIG. 8C  is a schematic diagram for describing the control by the control unit at the time of the collection of the garbage; 
         FIG. 8D  is a schematic diagram for describing the control by the control unit at the time of the collection of the garbage; 
         FIG. 9A  is a schematic diagram showing an example of a configuration of a garbage collection system according to Embodiment 2; 
         FIG. 9B  is a schematic diagram showing the example of the configuration of the garbage collection system according to Embodiment 2; 
         FIG. 10  is a block diagram showing an example of constituent elements relevant to discharge of the garbage in a garbage box according to Embodiment 2; 
         FIG. 11  is a block diagram showing another example of the constituent elements relevant to the discharge of the garbage in the garbage box according to Embodiment 2; 
         FIG. 12A  is a schematic diagram showing another example of the configuration of the garbage collection system according to Embodiment 2; and 
         FIG. 12B  is a schematic diagram showing the other example of the configuration of the garbage collection system according to Embodiment 2. 
     
    
    
     DETAILED DESCRIPTION OF EMBODIMENTS 
     Embodiments of the present disclosure will be described below with reference to the drawings. 
     Embodiment 1 
       FIG. 1  is a schematic diagram showing an example of a configuration of a garbage collection system  1  according to the embodiment. As shown in  FIG. 1 , the garbage collection system  1  includes an autonomous mobile robot  10  and a garbage box  20 .  FIG. 1  illustrates also a collection box  30  that is placed on a placement unit  130  at an upper portion of the autonomous mobile robot  10 . In  FIG. 1 , the garbage box  20  is shown as a sectional view. For example, the shape of the garbage box  20  is a rectangular parallelepiped shape or a circular column shape. However, the rectangular parallelepiped shape and the circular column shape are just examples, and the shape of the garbage box  20  may be another shape. For example, the garbage box  20  is installed in an arbitrary environment such as a house, a facility, a warehouse, a factory and an outdoor place. 
     The garbage box  20  shown in  FIG. 1  includes a charge port  21  and a discharge port  22 . The charge port  21  is an opening portion through which a human or the like throws garbage  31  into the garbage box  20 . The charge port  21  is provided on an upper surface of the garbage box  20  in the example shown in  FIG. 1 , but may be provided on a lateral surface of the garbage box  20 . 
     The discharge port  22  is an opening portion through which the autonomous mobile robot  10  collects the garbage  31  in the garbage box  20 . In the discharge port  22 , an opening-closing unit  23  is provided. The opening-closing unit  23  is a door (lid) that is provided in the discharge port  22 , and switches between a closed state (see  FIG. 1 ) and an opened state (see  FIG. 2 ). The opening-closing unit  23  is a single swing door in the example shown in  FIG. 1 , but may be a double swing door, or may have a configuration in which three or more doors open and close the discharge port  22 . Further, the opening-closing unit  23  is not limited to the configuration in which the discharge port  22  is opened and closed by swing of the door, and may have a configuration in which the discharge port  22  is opened and closed by slide of the door. That is, the opening-closing unit  23  only needs to be a component that switches the discharge port  22  between the closed state and the opened state, and an arbitrary known configuration can be employed as a specific configuration of the opening-closing unit  23 . An opening-closing unit is not provided in the charge port  21  in the example shown in  FIG. 1 , but an opening-closing unit may be provided in the charge port  21 . 
     The discharge port  22  and the opening-closing unit  23  are provided on a predetermined surface of the garbage box  20 , and specifically are provided on a bottom surface of the garbage box  20 . As shown in  FIG. 1 , the garbage box  20  is installed such that the opening-closing unit  23  and the discharge port  22  face a base surface  32  that is a floor surface or ground surface, with a predetermined interval from the base surface  32 . In other words, the garbage box  20  is installed such that the above-described predetermined surface on which the opening-closing unit  23  is provided faces the base surface  32  and space exists between the opening-closing unit  23  and the base surface  32 . The garbage box  20  is supported by a stand  33  in the example shown in  FIG. 1 , but may be installed on a wall, or may be suspended from an upper structural object such as a ceiling. 
     On the above-described predetermined surface, the garbage box  20  further include a switch  24  by which the opening-closing unit  23  is opened. That is, a switch  24  is provided at an arbitrary position on the predetermined surface (the bottom surface of the garbage box  20 ) on which the discharge port  22  and the opening-closing unit  23  are provided. The switch  24  is a switch that is operated by physical force (physical contact), and may be a button or a lever, for example. 
     When the switch  24  is operated, the opening-closing unit  23  switches from the closed state to the opened state. That is, the opening-closing unit  23  opens the door covering the discharge port  22 , and opens the discharge port  22 . For example, the opening-closing unit  23  may include an actuator such as a motor, and may switch between the opened state and the closed state using the actuator. The opening-closing unit  23  may transition to the closed state, when a predetermined time elapses after the switching to the opened state. The opening-closing unit  23  may transition to the closed state, when the switch  24  is operated again. The opening-closing unit  23  does not need to include an electric drive mechanism for the action of the door. For example, the door of the opening-closing unit  23  may be opened by the self-weight of the door, the elastic force of an elastic member, or the like. In this case, the door of the opening-closing unit  23  may be opened by the self-weight or elastic force, when an attachment for preventing the opening of the door is detached by the operation of the switch  24 , for example. Further, the closing of the door may be performed by a human or a robot, instead of an automatic closing by the garbage box  20 . 
       FIG. 2  is a schematic diagram showing a state where the opening-closing unit  23  is opened. As shown in  FIG. 2 , in the embodiment, the opening-closing unit  23  is opened when the switch  24  is operated. Thereby, the garbage  31  put in the garbage box  20  drops downward, and is placed on a later-described placement unit  130  of the autonomous mobile robot  10 . A collection box  30  for taking the collected garbage  31  is placed on the autonomous mobile robot  10  in  FIG. 2 , but the garbage  31  may be directly placed on the autonomous mobile robot  10  without the use of the collection box  30 . 
     Next, the autonomous mobile robot  10  will be described.  FIG. 3  is a perspective view showing a schematic configuration of the autonomous mobile robot  10  according to the embodiment.  FIG. 4  is a lateral view showing a schematic configuration of the autonomous mobile robot  10  according to the embodiment.  FIG. 5  is a block diagram showing a schematic system configuration of the autonomous mobile robot  10  according to the embodiment. 
     For example, the autonomous mobile robot  10  according to the embodiment is a robot that autonomously moves in a movement environment such as a house, a facility, a warehouse, a factory and an indoor place, and collects the garbage  31  in the garbage box  20 , and transports the garbage  31  to a predetermined place. For example, the autonomous mobile robot  10  runs on the base surface  32 . The autonomous mobile robot  10  according to the embodiment includes a movement unit  110  that can move, an extensible unit  120  that extends and contracts in an up-down direction, the placement unit  130  that supports the placed physical body (the garbage  31 ), a control unit  100  that performs controls of the autonomous mobile robot  10 , which include controls of the movement unit  110  and the extensible unit  120 , and a wireless communication unit  140 . 
     The movement unit  110  includes a robot body  111 , a pair of right and left driving wheels  112  that are rotatably provided on the robot body  111 , a pair of front and rear driven wheels  113  that are rotatably provided on the robot body  111 , and a pair of motors  114  that drive and rotate the respective driving wheels  112 . The motors  114  rotate the driving wheels  112  through speed reducers and the like. The motors  114  rotate the driving wheels  112  in response to a control signal from the control unit  100 , and thereby allows forward movement, rearward movement and rotation of the robot body  111 . Thereby, the robot body  111  can move to an arbitrary position. The above configuration of the movement unit  110  is an example, and the present disclosure is not limited to the above configuration. For example, the numbers of the driving wheels  112  and driven wheels  113  of the movement unit  110  may be arbitrary numbers, and an arbitrary configuration can be applied as long as the robot body  111  can move to an arbitrary position. 
     The extensible unit  120  is an extensible mechanism that extends and contracts in the up-down direction. The extensible unit  120  may be configured as a telescopic extensible mechanism. The placement unit  130  is provided at an upper end portion of the extensible unit  120 , and the placement unit  130  rises or falls by the action of the extensible unit  120 . The extensible unit  120  includes a drive device  121  such as a motor, and extends and contracts by the drive of the drive device  121 . That is, the placement unit  130  rises or falls by the drive of the drive device  121 . The drive device  121  is driven in response to a control signal from the control unit  100 . In the autonomous mobile robot  10 , an arbitrary known mechanism that is provided on an upper side of the robot body  111  and that controls the height of the placement unit  130  may be used instead of the extensible unit  120 . 
     The placement unit  130  is provided on an upper portion (distal end) of the extensible unit  120 . The placement unit  130  rises or falls by the drive device  121  such as a motor, and is used for placing the garbage  31  that is transported by the autonomous mobile robot  10 . As described above, the collection box  30  for taking the collected garbage  31  may be placed on the placement unit  130  as shown in  FIG. 1 , but the garbage  31  may be directly placed on the placement unit  130  without the use of the collection box  30 . For transportation, the autonomous mobile robot  10  moves together with the garbage  31  (the collection box  30 ), while the garbage  31  (the collection box  30 ) is supported by the placement unit  130 . Thereby, the autonomous mobile robot  10  transports the garbage  31  (the collection box  30 ). 
     For example, the placement unit  130  is formed of a plate material. In the embodiment, the shape of the plate material, that is, the shape of the placement unit  130  is a discoid shape having a flat upper surface, for example, but may be another arbitrary shape. 
     The wireless communication unit  140  is a circuit that performs wireless communication for communicating with a server, another robot or the like as necessary, and includes a wireless sending-receiving circuit and an antenna, for example. In the case where the garbage box  20  has a communication function, the communication with the garbage box  20  may be performed by the wireless communication unit  140 . In the case where the autonomous mobile robot  10  does not communicate with another apparatus, the wireless communication unit  140  may be excluded. 
     The control unit  100  is a device that controls the autonomous mobile robot  10 , and includes a processor  101 , a memory  102  and an interface  103 . The processor  101 , the memory  102  and the interface  103  are connected with each other through a data bus and the like. 
     The interface  103  is an input-output circuit that is used for communicating with other devices such as the movement unit  110 , the extensible unit  120  and the wireless communication unit  140 . 
     For example, the memory  102  is configured by a combination of a volatile memory and a non-volatile memory. The memory  102  is used for storing software (computer program) that is executed by the processor  101  and that includes one or more instructions, data that is used for various processes of the autonomous mobile robot  10 , and others. 
     The processor  101  reads the software (computer program) from the memory  102  and executes the software, to perform a later-described process of the control unit  100 . 
     For example, the processor  101  may be a microprocessor, a micro processing unit (MPU), a central processing unit (CPU), or the like. The processor  101  may include a plurality of processors. In this way, the control unit  100  is a device that functions as a computer. 
     The above-described program can be stored using various types of non-transitory computer readable media, and can be supplied to the computer. The non-transitory computer readable media include various types of tangible storage media. Examples of the non-transitory computer readable media include a magnetic recording medium (for example, a flexible disk, a magnetic tape and hard disk drive), a magneto-optical recording medium (for example, a magneto-optical disk), a compact disc read only memory (CD-ROM), a CD-R, a CD-R/W, a semiconductor memory (for example, a mask ROM, a programmable ROM (PROM), an erasable PROM (EPROM), a flash ROM, a random access memory (RAM)). Further, the program may be supplied to the computer by various types of transitory computer readable media. Examples of the transitory computer readable media include an electric signal, an optical signal and an electromagnetic wave. The transitory computer readable media can supply the program to the computer, through a wire communication path such as an electric wire and an optical fiber or through a wireless communication path. 
     Next, a process of the control unit  100  will be described. 
     The control unit  100  controls the action of the autonomous mobile robot  10 . For example, the control unit  100  controls the movement unit  110  and the extensible unit  120 . The control unit  100  can control the rotation of each driving wheel  112  and can move the robot body  111  to an arbitrary position, by sending the control signal to each motor  114  of the movement unit  110 . Further, the control unit  100  can control the height of the placement unit  130 , by sending the control signal to the drive device  121  of the extensible unit  120 . 
     The control unit  100  may control the movement of the autonomous mobile robot  10 , by performing a well-known control such as a feedback control and a robust control based on rotation information about the driving wheel  112  detected by a rotation sensor that is provided in the driving wheel  112 . Further, the control unit  100  may cause the autonomous mobile robot  10  to autonomously move, by controlling the movement unit  110  based on information including distance information detected by a distance sensor such as a camera or an ultrasonic sensor that is provided in the autonomous mobile robot  10 , and map information about a movement environment. In the embodiment, the autonomous mobile robot  10  moves to the position of the garbage box  20 . Therefore, the control unit  100  controls the autonomous mobile robot  10  such that the autonomous mobile robot  10  moves to a predetermined position in the vicinity of the installation position of the garbage box  20 , that is, to a collection position of the garbage  31  in the garbage box  20  (for example, a position just below the opening-closing unit  23 ). Then, the control unit  100  controls the autonomous mobile robot  10  such that the autonomous mobile robot  10  operates the switch  24  of the garbage box  20 . Thereby, the garbage box  20  can drop the garbage  31  at an appropriate timing, by a simple configuration. Further, in the embodiment, the switch  24  for opening the opening-closing unit  23  is provided on a surface of the garbage box  20  that faces the base surface  32 . Therefore, the autonomous mobile robot  10  below the garbage box  20  can easily operate the switch  24 . When the autonomous mobile robot  10  receives the garbage  31  dropped from the discharge port  22  of the garbage box  20 , the control unit  100  controls the autonomous mobile robot  10  such that the autonomous mobile robot  10  moves to a predetermined place. Thereby, the garbage  31  is transported to the predetermined place by the autonomous mobile robot  10 . The autonomous mobile robot  10  may understand that the garbage  31  has been received, from a signal from a sensor such as a weight sensor that measures the weight of the placement unit  130 , or from a notice from another device such as the garbage box  20 . 
       FIG. 6  is a schematic diagram showing an example of a manner in which the autonomous mobile robot  10  operates the switch  24  of the garbage box  20 . In the example shown in  FIG. 6 , the switch  24  is a button that can be operated from a lower side. In the example shown in  FIG. 6 , the control unit  100  of the autonomous mobile robot  10  operates the switch  24  in a vertical direction, by causing the placement unit  130  to rise at the predetermined position (the position just below the opening-closing unit  23 ). That is, the autonomous mobile robot  10  presses the switch  24  upward from the lower side, by causing the placement unit  130  to rise. Thereby, the opening-closing unit  23  is opened, and the garbage  31  moves from the garbage box  20  to the autonomous mobile robot  10 . 
       FIG. 7  is a schematic diagram showing another example of the manner in which the autonomous mobile robot  10  operates the switch  24  of the garbage box  20 . In the example shown in  FIG. 7 , the switch  24  is a button or lever that can be operated from a lateral side. In the example shown in  FIG. 7 , the control unit  100  of the autonomous mobile robot  10  operates the switch  24  in a horizontal direction, by moving the placement unit  130  to the predetermined position (the position just below the opening-closing unit  23 ) in the state where the height of the placement unit  130  is a predetermined height. That is, the autonomous mobile robot  10  presses the switch  24  from the lateral side by moving. Thereby, the opening-closing unit  23  is opened, and the garbage  31  moves from the garbage box  20  to the autonomous mobile robot  10 . 
     In this way, the autonomous mobile robot  10  may operate the switch  24  using the placement unit  130 . With this configuration, the autonomous mobile robot  10  can operate the switch  24 , even when the autonomous mobile robot  10  does not include a special arm for operating the switch  24 . 
     In the case where the autonomous mobile robot  10  operates the switch  24  using the placement unit  130 , the operation may be performed by a direct contact of the placement unit  130  with the switch  24 , or may be performed by a contact of the collection box  30  on the placement unit  130  with the switch  24 . In the case where the operation of the switch  24  is performed through the collection box  30 , it is preferable that the collection box  30  be fixed to the placement unit  130 . Further, the switch  24  may be operated by a human who confirms that the autonomous mobile robot  10  has come to the predetermined position. 
     Since the autonomous mobile robot  10  receives the garbage  31  dropped from the garbage box  20  with the placement unit  130 , the impact when the autonomous mobile robot  10  receives the dropped garbage  31  is high in the case where the distance from the placement unit  130  to the garbage box  20  is long. Accordingly, in this case, there is fear of the failure of the autonomous mobile robot  10 , the dispersion of the garbage  31 , or the like. Therefore, at the time of the collection of the garbage  31 , the control unit  100  may cause the placement unit  130  to rise at the collection position of the garbage  31  (the position just below the opening-closing unit  23 ). Thereby, it is possible to soften the impact when the autonomous mobile robot  10  receives the garbage  31 . For example, the control unit  100  may cause the placement unit  130  to rise to a level of the height to a lower end of the motion range of the opening-closing unit  23 . For example, the height to the lower end of the motion range of the opening-closing unit  23  may be previously stored in the memory  102 . Further, at the time of the collection of the garbage  31 , the control unit  100  may perform the following control as shown in  FIG. 8A  to  FIG. 8D .  FIG. 8A  to  FIG. 8D  are schematic diagrams showing the control of the height of the placement unit  130  by the control unit  100  in order. 
     First, the control unit  100  causes the placement unit  130  to rise to a level corresponding to the height of the opening-closing unit  23  (see  FIG. 8A ). For causing the placement unit  130  to rise to the level corresponding to the height of the opening-closing unit  23 , the autonomous mobile robot  10  may acquire the height of the opening-closing unit  23  by measuring the height of the opening-closing unit  23  using a distance sensor, or may acquire the height of the opening-closing unit  23  by reading the height previously stored in the memory  102 . Next, the control unit  100  causes the opening-closing unit  23  in tune with the action in which the opening-closing unit  23  is opened downward (see  FIG. 8B  and  FIG. 8C ). For example, the control unit  100  may control the fall of the placement unit  130  in accordance with the output value of a distance sensor that detects the distance between the placement unit  130  and the opening-closing unit  23 . Further, in the case where the opening-closing unit  23  is opened by the self-weight, the elastic force of an elastic member, or the like, the control unit  100  may cause the opening-closing unit  23  to fall at a predetermined speed when a weight sensor, a contact sensor or the like detects that the placement unit  130  starts to support the opening-closing unit  23 . Further, in the case where the start timing of the opening action of the opening-closing unit  23  can be acquired by a notice from the garbage box  20  or the like, the control unit  100  may cause the placement unit  130  to fall at a predetermined speed corresponding to the speed of the opening of the opening-closing unit  23 . Thereafter, the control unit  100  causes the placement unit  130  to further fall such that the autonomous mobile robot  10  with the garbage  31  and the opening-closing unit  23  do not hit against each other ( FIG. 8D ). In this way, the control unit  100  may cause the placement unit  130  to rise at the collection position (the position just below the opening-closing unit  23 ) of the garbage  31 , and may cause the placement unit  130  in tune with the action in which the opening-closing unit  23  is opened downward. Thereby, it is possible to soften the impact when the autonomous mobile robot  10  receives the garbage  31 . 
     Embodiment 1 has been described above. As described above, the garbage box  20  according to the embodiment includes the opening-closing unit  23  and the switch  24  on the predetermined surface of the garbage box  20 , and is installed such that the opening-closing unit  23  and the switch  24  face the base surface  32  with the predetermined interval from the base surface  32 . Therefore, the autonomous mobile robot  10  below the garbage box  20  can easily operate the switch  24 . Therefore, it is possible to load the garbage  31  on the autonomous mobile robot  10 , by the drop of the garbage  31  in the garbage box  20 . Accordingly, it is possible to efficiently collect the garbage by the autonomous mobile robot. 
     Embodiment 2 
     Next, Embodiment 2 will be described. The embodiment is different from the above-described embodiment, in that the garbage box can change the facing state.  FIG. 9A  and  FIG. 9B  are schematic diagrams showing an example of a configuration of a garbage collection system  2  according to Embodiment 2.  FIG. 9A  and  FIG. 9B  illustrate also the collection box  30  that is placed on the placement unit  130  of the autonomous mobile robot  10 . In  FIG. 9A  and  FIG. 9B , a garbage box  40  is shown as a sectional view. For example, the shape of the garbage box  40  is a rectangular parallelepiped shape or a circular column shape. However, the rectangular parallelepiped shape and the circular column shape are just examples, and the shape of the garbage box  40  may be another shape. 
     As shown in  FIG. 9A  and  FIG. 9B , the garbage collection system  2  is different from the garbage collection system  1  in Embodiment 1, in that the garbage box  40  capable of changing the facing state is used instead of the garbage box  20 .  FIG. 9A  is a schematic diagram showing an example of a state where a predetermined surface (a surface on which the opening-closing unit  23  is provided) of the garbage box  40  does not face the base surface  32 .  FIG. 9B  is a schematic diagram showing an example of a state where the predetermined surface (the surface on which the opening-closing unit  23  is provided) of the garbage box  40  faces the base surface  32 . Hereinafter, the state where the surface of the garbage box  40  on which the opening-closing unit  23  is provided does not face the base surface  32  is referred to as a charge acceptance state, and the state where the surface of the garbage box  40  on which the opening-closing unit  23  is provided faces the base surface  32  is referred to as a discharge state. 
     The garbage box  40  includes a charge port  21  and a discharge port  22 , similarly to the garbage box  20 . As shown in  FIG. 9A  and  FIG. 9B , on the garbage box  40 , the charge port  21  is provided on a surface that is an upper surface in the charge acceptance state and that is a lateral surface in the discharge state. The charge port  21  may be provided on a surface that is a lateral surface in both the charge acceptance state and the discharge state (on a surface on a near side or far side of sheet planes of  FIG. 9A  and  FIG. 9B ). It is preferable that an opening-closing unit  41  be provided in the charge port  21 , for avoiding the garbage  31  from spilling from the charge port  21  when the garbage box  40  becomes the discharge state. The opening-closing unit  41  is a door (lid) that is provided in the charge port  21 . 
     In the garbage box  40 , an opening-closing unit  23  is provided in the discharge port  22 . Further, in the embodiment also, the garbage box  40  includes a switch  24  by which the opening-closing unit  23  is opened. The discharge port  22 , the opening-closing unit  23  and the switch  24  are provided on a predetermined surface of the garbage box  40 . Specifically, as shown in  FIG. 9A  and  FIG. 9B , in the garbage box  40 , the discharge port  22 , the opening-closing unit  23  and the switch  24  are provided on a surface that is a lateral surface in the charge acceptance state and that is a bottom surface in the discharge state. In the embodiment, as shown in  FIG. 9B , the garbage box  40  is installed such that the opening-closing unit  23 , discharge port  22  and switch  24  of the garbage box  40  in the discharge state face the base surface  32  with a predetermined interval from the base surface  32 . Specifically, the garbage box  40  includes a rotation shaft  42 , and is installed on a wall  34  by the rotation shaft  42 . That is, the garbage box  40  is installed on the wall  34  such that the facing state can be changed by rotating the rotation shaft  42  as the shaft for rotation. As shown in  FIG. 9A  and  FIG. 9B , a cutout  35  that can house the garbage box  40  in the charge acceptance state is provided in the wall  34 . It can be said that the garbage box  40  is installed on a seat  36  for placing the garbage box  40  in the charge acceptance state. When the garbage box  40  in the charge acceptance state rotates 90 degrees and the garbage box  40  becomes the discharge state (see  FIG. 9B ), the surface on which the opening-closing unit  23  is provided faces the base surface  32 , and space exists between the opening-closing unit  23  and the base surface  32 . 
     In this way, the garbage box  40  can change the facing state between the state where the surface on which the opening-closing unit  23  (the discharge port  22 ) and the switch  24  are provided faces the base surface  32  and the state where the surface does not the base surface  32 , that is, the state where the surface is oriented in a direction other than the direction of the base surface  32 . More specifically, the garbage box  40  is rotatably provided, and can change the facing state between the discharge state where the surface on which the opening-closing unit  23  (the discharge port  22 ) and the switch  24  are provided faces the base surface  32  and the charge acceptance state where the attitude stands up from the discharge state. 
       FIG. 10  is a block diagram showing constituent elements relevant to the discharge of the garbage in the garbage box  40  according to the embodiment. As shown in  FIG. 10 , the garbage box  40  according to the embodiment includes a sensor  45  and a rotation mechanism  43 , in addition to the opening-closing unit  23  and the switch  24 . 
     The sensor  45  is a sensor that detects that the autonomous mobile robot  10  has come to the predetermined position. The predetermined position is the collection position of the garbage  31 , and specifically, is the position just below the opening-closing unit  23  when the garbage box  40  is in the discharge state. The sensor  45  may detect whether a physical body having come to the predetermined position is the autonomous mobile robot  10 , or may be a sensor that detects that an arbitrary physical body has come to the predetermined position. For example, the sensor  45  may be an image sensor that performs the detection by processing an image in a camera. The sensor  45  is not limited to the image sensor, and an arbitrary known sensor that can detect that a physical body (the autonomous mobile robot  10 ) is at the predetermined position, as exemplified by a distance sensor, can be used. 
     The rotation mechanism  43  is a mechanism that includes an actuator such as a motor for changing the facing state of the garbage box  40 , in addition to the rotation shaft  42  described above. The rotation mechanism  43  rotates the garbage box  40  based on a detection signal from the sensor  45 . That is, when the autonomous mobile robot  10  has come to the predetermined position and thereby the rotation mechanism  43  has received the detection signal from the sensor  45 , the rotation mechanism  43  changes the facing state of the garbage box  40 , and switches the state of the garbage box  40  from the charge acceptance state to the discharge state. In this way, when the garbage box  40  detects that the autonomous mobile robot has come to the vicinity of the garbage box  40 , the garbage box  40  changes the facing state to the state where the surface having the opening-closing unit  23  and the switch  24  faces the base surface  32 . Therefore, it is possible to automatically change the attitude of the garbage box  40  to an attitude suitable for the collection of the garbage  31 . The rotation mechanism  43  may return to the charge acceptance state, when a predetermined time elapses after the change in the state of the garbage box  40  to the discharge state. The rotation mechanism  43  may change the facing state of the garbage box  40  from the discharge state to the charge acceptance state, when the sensor  45  detects that the autonomous mobile robot  10  has left the vicinity (the predetermined position) of the garbage box  40 . 
     The opening-closing unit  23  switches from the closed state to the opened state, when the switch  24  is operated after the garbage box  40  becomes the discharge state. Similarly to Embodiment 1, the autonomous mobile robot  10  operates the switch  24  by the contact of the placement unit  130  or collection box  30  with the switch  24 , for example. Thereby, in the embodiment also, the autonomous mobile robot  10  can collect the garbage  31 . In the embodiment also, the opening-closing unit  23  may transition to the closed state when a predetermined time elapses after the transition to the opened state. The opening-closing unit  23  may transition to the closed state when the sensor  45  detects that the autonomous mobile robot  10  has left the predetermined position. 
     Embodiment 2 has been described above. In the embodiment, as described above, the garbage box  40  can change the facing state between the state where the surface on which the opening-closing unit  23  (the discharge port  22 ) is provided faces the base surface  32  and the state where the surface does not face the base surface  32 . Thereby, it is possible to switch installation manner of the garbage box  40  depending on situation, and therefore, it is possible to enhance convenience for operation. 
     In the above description, the garbage box  40  changes the facing state of the garbage box  40  based on the detection result of the sensor  45 . The facing state of the garbage box  40  may be changed by a human, instead of being automatically changed. 
     The garbage box  40  may change the facing state of the garbage box  40  not based on the detection result of the sensor  45  but based on a notice from another apparatus.  FIG. 11  is a block diagram showing constituent elements relevant to the discharge of the garbage in the garbage box  40  that changes the facing state based on the notice from the other apparatus. In this case, as shown in  FIG. 11 , the garbage box  40  includes a communication unit  46  instead of the sensor  45 . The communication unit  46  is a circuit that communicates with the other apparatus, and includes a sending-receiving circuit that sends and receives a signal by wire or by wireless. 
     The garbage box  40  having the configuration shown in  FIG. 11  changes the facing state based on the notice that the communication unit  46  receives from the other apparatus. That is, when the notice from the other apparatus is received, the rotation mechanism  43  changes the facing state of the garbage box  40 , and switches the facing state of the garbage box  40  from the charge acceptance state to the discharge state. In this way, the garbage box  40  may understand that the autonomous mobile robot has been to the vicinity of the garbage box  40 , based on the notice from the other apparatus. For example, the other apparatus may be the autonomous mobile robot  10 . In this case, when the autonomous mobile robot  10  has arrived at the predetermined position (the collection position of the garbage  31 ), the autonomous mobile robot  10  gives a notice indicating the arrival, to the garbage box  40 . When the communication unit  46  of the garbage box  40  receives the notice from the autonomous mobile robot  10 , the rotation mechanism  43  changes the facing state of the garbage box  40 . Further, the above-described other apparatus may be a server that manages the progress of execution of tasks of the autonomous mobile robot  10 . In this case, when the server understands that the autonomous mobile robot  10  has arrived at the predetermined position, for example, through the notice from the autonomous mobile robot  10 , the server gives a notice indicating that the autonomous mobile robot  10  has arrived at the predetermined position, to the garbage box  40 . Then, when the communication unit  46  of the garbage box  40  receives the notice from the server, the rotation mechanism  43  changes the facing state of the garbage box  40 . Further, the above-described other apparatus may be a sensor apparatus or the like that is provided on the base surface  32  or the like. In this case, when the sensor apparatus detects that the autonomous mobile robot  10  has arrived at the predetermined position, the sensor apparatus gives a notice indicating the arrival, to the garbage box  40 . Then, when the communication unit  46  of the garbage box  40  receives the notice from the sensor apparatus, the rotation mechanism  43  changes the facing state of the garbage box  40 . 
     In the example shown in  FIG. 9A  and  FIG. 9B , the garbage box rotates 90 degrees, but the angle of the rotation is 90 degrees or more.  FIG. 12A  and  FIG. 12B  are schematic diagrams showing another example of the configuration of the garbage collection system  2  according to Embodiment 2. Differences from the configuration described with reference to  FIG. 9A  and  FIG. 9B  will be described below, and repetitive descriptions will be omitted when appropriate. In the example shown in  FIG. 12A  and  FIG. 12B , a garbage box  40   a  is used instead of the garbage box  40 .  FIG. 12A  is a schematic diagram showing an example of a state where a predetermined surface (a surface on which an opening-closing unit  23  is provided) of the garbage box  40   a  does not face the base surface  32 , and  FIG. 12B  is a schematic diagram showing an example of a state where the predetermined surface (the surface on which the opening-closing unit  23  is provided) of the garbage box  40   a  faces the base surface  32 . 
     The garbage box  40   a  is different from the above-described garbage box  40 , in that the garbage box  40   a  is inverted by rotation. In the garbage box  40   a , the charge port may be provided on a surface that is a lateral surface (that is, a surface other than the upper surface and the bottom surface) in both the charge acceptance state and the discharge state, and may serve also as a discharge port  22 . In the garbage box  40   a , the discharge port  22  and the opening-closing unit  23  are provided on a surface that is an upper surface in the charge acceptance state and that is a bottom surface in the discharge state. A rotation mechanism  43  of the garbage box  40   a  rotates and inverts the garbage box  40   a , and thereby, the garbage box  40   a  switches between the charge acceptance state and the discharge state. In this way, the garbage box may switch between the charge acceptance state and the discharge state, by inversion. 
     The embodiments have been described above. The present disclosure is not limited to the above embodiments, and can be appropriately modified without departing from the spirit.