JP7580042B2 - Pest control system, autonomous mobile robot and pest capture device - Google Patents

Description

The present invention relates to a pest control system, an autonomous robot, and a pest capture device.

Conventionally, pest control systems that assist in the extermination of pests have been known. For example, Patent Document 1 discloses, as an example of a pest control system, a cleaning robot with a chemical spraying function that travels around a room and automatically cleans.

The cleaning robot (pest control system) with a chemical spraying function disclosed in Patent Document 1 is provided with a storage unit for storing chemicals, and determines a travel route for the robot in a room before spraying the chemicals. As the robot travels along this route, it sprays the stored chemicals from an exhaust port to spray the chemicals in the room.

JP 2006-13005 A

In the pest control system disclosed in Patent Document 1, pests are exterminated by spraying chemicals in every corner of a room. As a result, the corpses of exterminated pests are left all over the room. For this reason, this pest control system requires the user to collect and dispose of the pest corpses left all over the room themselves. This places a heavy burden on the user. Furthermore, the user feels uncomfortable when they have to see the pest corpses.

In addition, the pest control system disclosed in Patent Document 1 sprays chemicals into every corner of a room, leaving some users concerned about the effects that the chemicals may have on the human body.

Therefore, the present invention provides a pest control system that helps to easily exterminate pests.

A pest control system according to one aspect of the present invention includes a pest trapping device for trapping pests, an autonomous robot that travels autonomously and transports the pest trapping device, a first acquisition unit that acquires at least one of the shape of a floor on which the autonomous robot travels, the position of an object placed on the floor, and the shape of the object, an area detection unit that detects an area on the floor in which the pest trapping device is to be placed based on the at least one acquired piece of information, and a second acquisition unit that acquires a map of the floor, and the autonomous robot transports the pest trapping device to the detected area based on the map and places it there, and retrieves the placed pest trapping device from the area when a predetermined condition is met.

An autonomous mobile robot according to one embodiment of the present invention is an autonomous mobile robot that travels autonomously, and is equipped with a first acquisition unit that acquires at least one of the shape of a floor on which the autonomous mobile robot travels, the position of an object placed on the floor, and the shape of the object, an area detection unit that detects a placement area on the floor in which a pest capture device for capturing pests is placed based on the at least one of the acquired pieces of information, and a second acquisition unit that acquires a map of the floor, and the autonomous mobile robot transports the pest capture device to the detected placement area based on the map and places it there, and when a predetermined condition is satisfied, retrieves the placed pest capture device from the placement area.

An autonomous mobile robot according to one aspect of the present invention is an autonomous mobile robot that travels autonomously, and includes a first acquisition unit that acquires at least one of the shape of a floor on which the autonomous mobile robot travels, the position of an object placed on the floor, and the shape of the object, an area detection unit that detects an area on the floor where a pest capture device for capturing pests is placed based on the at least one acquired piece of information, a second acquisition unit that acquires a map of the floor, and a second communication unit that transmits the position of the detected area on the map and the map.

A pest trapping device according to one aspect of the present invention is a pest trapping device for trapping pests, the pest trapping device being transported and placed by an autonomously traveling robot that travels autonomously and transports the pest trapping device, and the placed pest trapping device being retrieved by the autonomously traveling robot when a predetermined condition is satisfied.

The pest control system of the present invention can help to easily exterminate pests.

FIG. 1 is a diagram showing a configuration of a pest control system according to a first embodiment. FIG. 2 is a block diagram showing the functional configuration of the pest control system according to the first embodiment. FIG. 3 is a perspective view of the appearance of the autonomous mobile robot according to the first embodiment. FIG. 4 is a perspective view of the appearance of the pest trapping device according to the first embodiment. FIG. 5 is an external perspective view of the autonomous traveling robot, the pest trapping device, and the base device according to the first embodiment. FIG. 6 is a flowchart of an example of an operation of the pest control system according to the first embodiment in deploying the pest trapping device. FIG. 7 is a flowchart of an example of an operation of the pest control system according to the first embodiment for recovering a pest trapping device. FIG. 8 is a diagram showing a configuration of an autonomous running robot according to the second embodiment. FIG. 9 is a block diagram showing the functional configuration of the autonomous running robot according to the second embodiment. FIG. 10 is a flowchart of an example of the operation of the autonomous mobile robot according to the second embodiment.

The following describes the embodiments in detail with reference to the drawings. Note that the embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, component placement and connection forms, steps, and order of steps shown in the following embodiments are merely examples and are not intended to limit the present invention. Furthermore, among the components in the following embodiments, components that are not described in an independent claim are described as optional components.

Note that each figure is a schematic diagram and is not necessarily a precise illustration. In addition, in each figure, the same reference numerals are used for substantially the same configurations, and duplicate explanations may be omitted or simplified.

(Embodiment 1)
[composition]
First, the configuration of a pest control system 1 according to the first embodiment will be described.

Figure 1 shows the configuration of a pest control system 1 according to this embodiment.

Figure 2 is a block diagram showing the functional configuration of the pest control system 1 according to this embodiment.

The pest control system 1 according to the embodiment is a system for assisting a user U in exterminating pests. The pest control system 1 detects an area in which a pest trapping device 200 for trapping pests is placed, transports the pest trapping device 200 to the area, and places it there, and retrieves the pest trapping device 200 from the area when a predetermined condition is met. Here, pests include, but are not limited to, cockroaches and centipedes. The pest control system 1 is installed, for example, in a room of a building. The building may be, for example, a residence such as an apartment building or a detached house, or may be a public facility such as a hospital or a nursing home.

As shown in Figures 1 and 2, the pest control system 1 includes an autonomous mobile robot 100, a pest capture device 200, and a base device 300.

[Autonomous Robot]
First, the autonomous mobile robot 100 will be described.

In the pest control system 1, the autonomous mobile robot 100 is a robot that moves autonomously. As shown in FIG. 1, the autonomous mobile robot 100 moves autonomously on the floor F of the room. In this specification, "autonomous" means that the pest control system 1 is controlled by itself without being controlled from the outside. Furthermore, the autonomous mobile robot 100 is a transport robot that transports the pest capture device 200. When the autonomous mobile robot 100 is not moving, the autonomous mobile robot 100 is housed in the base device 300.

FIG. 3 is an external perspective view of the autonomous mobile robot 100 according to this embodiment. In this embodiment, as shown in FIGS. 2 and 3, the autonomous mobile robot 100 has a sensor 110, a processing unit 120, a first driving unit 130, a placement and collection unit 140, a memory unit 150, and a second communication unit 160.

The sensor 110 is a sensor device that senses information about the floor F on which the autonomous mobile robot 100 travels. The sensor 110 senses the above data while the autonomous mobile robot 100 is traveling. As shown in FIG. 3, the sensor 110 is provided on the top of the autonomous mobile robot 100. In this embodiment, the autonomous mobile robot 100 has a distance measurement sensor and a camera as the sensor 110.

The distance measurement sensor is a sensor that detects the distance between the autonomous mobile robot 100 and objects such as the walls and objects in the room that exist around the autonomous mobile robot 100. The objects are objects (specifically, furniture and home appliances) placed on the floor F, such as a bed B and a shelf S as shown in FIG. 1. The distance measurement sensor is an infrared sensor that has a light-emitting unit and a light-receiving unit, and measures the distance based on the time it takes for infrared light reflected from the object to return. The distance measurement sensor is a so-called LIDAR (Light Detection and Ranging). The camera is a device that captures images of the entire circumference of the autonomous mobile robot 100.

That is, the sensor 110 senses information indicating a distance detected by the distance measuring sensor and an image captured by the camera (hereinafter referred to as sensing information). The sensing information is output by the sensor 110 to the processing unit 120.

The processing unit 120 detects the placement area in which the pest trapping device 200 is placed, transports the pest trapping device 200 to the placement area, and performs information processing to retrieve the pest trapping device 200 from the placement area when a predetermined condition is met. The processing unit 120 includes a third acquisition unit 121, a map generation unit 122, a second acquisition unit 123, a first acquisition unit 124, an area detection unit 125, a determination unit 126, a driving plan generation unit 127, a self-position estimation unit 128, and a first control unit 129. The processing unit 120 is realized, for example, by a microcomputer, but may also be realized by a processor.

The third acquisition unit 121 acquires sensing information sensed by the sensor 110. Furthermore, the third acquisition unit 121 outputs the sensing information to the map generation unit 122 and the self-position estimation unit 128.

The map generating unit 122 generates a map of the floor F based on the sensing information acquired by the third acquiring unit 121 while the autonomous mobile robot 100 is traveling. The map of the floor F is a map of the area in which the autonomous mobile robot 100 travels. The method of generating the map of the floor F is not particularly limited, but an example of the method is Simultaneous Localization and Mapping (SLAM) technology.

The map of floor F generated by the map generation unit 122 includes information indicating the shape of floor F on which the autonomous mobile robot 100 travels, the positions of objects placed on floor F, and the shapes of the objects placed on floor F.

For example, the map of floor F includes two-dimensional data information indicating the shape of floor F, the positions of placed objects, and the shapes of placed objects. In other words, the two-dimensional data information included in the map of floor F indicates the outer shape of the outline of floor F when floor F is viewed vertically, the positions of placed objects on floor F, and the outer shape of the outline of the placed objects.

Furthermore, for example, the map of floor F includes three-dimensional data information as information indicating the shape of the placed object. The three-dimensional data information included in the map of floor F may be obtained by performing image analysis on the image included in the sensing information, and may indicate, for example, that there is a space of a predetermined volume below bed B, which is a placed object.

The map of floor F generated by the map generation unit 122 is output to the storage unit 150. The generated map of floor F is stored in the storage unit 150.

The second acquisition unit 123 acquires a map of floor F. Here, the second acquisition unit 123 acquires the map of floor F stored in the memory unit 150. Note that the second acquisition unit 123 may acquire the map of floor F from outside the autonomous mobile robot 100.

The first acquisition unit 124 acquires at least one of the shape of the floor F on which the autonomous mobile robot 100 travels, the positions of objects placed on the floor F, and the shapes of the objects placed on the floor F. Here, the first acquisition unit 124 acquires a map of the floor F stored in the memory unit 150, and acquires at least one of the shape of the floor F, the positions of objects, and the shapes of the objects indicated by the information contained in the acquired map of the floor F.

The area detection unit 125 detects an arrangement area on the floor F where the pest trapping device 200 is arranged, based on at least one of the shape of the floor F, the position of the arrangement object, and the shape of the arrangement object acquired by the first acquisition unit 124. That is, the area detection unit 125 detects an arrangement area as a candidate area for arranging the pest trapping device 200. Note that an arrangement area is an area where pests can easily be trapped by the pest trapping device 200, that is, an area in a room where pests are likely to lurk (are likely to be present).

In this embodiment, the area below the bed B and the area between the bed B and the shelf S are detected as placement areas. In the information terminal 400 shown in FIG. 1, the two detected placement areas are displayed surrounded by a dashed rectangle. That is, in this embodiment, the area detection unit 125 detects multiple placement areas. Note that the area detection unit 125 may detect only one placement area.

The determination unit 126 determines one placement area from among the multiple placement areas detected. Here, the determination unit 126 determines one placement area as the area in which the pest trapping device 200 will actually be placed from among the multiple placement areas that are candidate areas for placing the pest trapping device 200 detected by the area detection unit 125.

Each time the pest control system 1 is used, the determination unit 126 may determine a different placement area each time as the single placement area. For example, when the pest control system 1 is used on a certain day, the determination unit 126 may determine the area below the bed B shown in FIG. 1 as the single placement area. Furthermore, when the pest control system 1 is used on another day, the determination unit 126 may determine the area between the bed B and shelf S shown in FIG. 1 as the single placement area. In other words, the determination unit 126 does not need to always determine the same placement area as the single placement area.

When the pest control system 1 includes multiple pest trapping devices 200, the determination unit 126 may determine, from the detected multiple placement areas, the same number of placement areas as the multiple pest trapping devices 200.

The driving plan generating unit 127 generates a route for the autonomous mobile robot 100 to travel based on the map of the floor F acquired by the second acquisition unit 123 and one placement area determined by the determination unit 126. For example, the driving plan generating unit 127 generates a route from the base device 300 in which the autonomous mobile robot 100 is housed to the one placement area. Note that, if the determination unit 126 determines the same number of placement areas as the number of pest trapping devices 200, the driving plan generating unit 127 generates a route that passes through all of the same number of placement areas.

The self-position estimation unit 128 estimates the self-position based on sensing information sensed by the sensor 110. Here, the self-position estimation unit 128 estimates the self-position based on an image obtained from a camera, which is one of the sensors 110. More specifically, the self-position estimation unit 128 estimates the self-position from a plurality of feature points included in the image obtained from the above-mentioned camera. There are no particular limitations on the method for estimating the self-position, but in this embodiment, the self-position estimation unit 128 estimates the self-position using SLAM technology.

The first control unit 129 controls the first drive unit 130 to cause the autonomous mobile robot 100 to travel autonomously. More specifically, the first control unit 129 causes the autonomous mobile robot 100 to travel along a route generated by the travel plan generation unit 127. The first control unit 129 may control the travel, steering, etc. of the autonomous mobile robot 100 by controlling the first drive unit 130 based on the self-position estimated by the self-position estimation unit 128.

The first control unit 129 also controls the placement and recovery unit 140. By controlling the placement and recovery unit 140, the pest trapping device 200 can be placed and recovered.

The first drive unit 130 is a member that drives the autonomous mobile robot 100. As an example, the first drive unit 130 has a first wheel 131 for driving on the floor F and a first motor 132 that applies torque to the first wheel 131. Here, four first wheels 131 are provided, but the number of first wheels 131 is not limited to this. The first control unit 129 can independently control the rotation of the four first wheels 131 to drive the autonomous mobile robot 100 freely, such as forward, backward, left rotation, and right rotation. Note that the first drive unit 130 is not limited to the above, and may be a caterpillar or the like. The first drive unit 130 may have any configuration as long as it can drive the autonomous mobile robot 100.

The placement and recovery unit 140 is a component that allows the autonomous mobile robot 100 to transport the pest trapping device 200 to the placement area and place it there, and also allows the autonomous mobile robot 100 to recover the pest trapping device 200 from the placement area. Here, the placement and recovery unit 140 includes, as an example, a placement unit 141 and two arm units 142.

The mounting portion 141 is a member for mounting the pest trapping device 200, and in this case is a plate-shaped member having a flat surface. The mounting portion 141 rotates in the direction of the arrow shown in FIG. 3 (vertical direction) by being controlled by the first control portion 129.

The two arm sections 142 are members that clamp the pest capture device 200 placed on the placement section 141. The two arm sections 142 rotate under the control of the first control section 129. Figure 3 shows, as an example, the operation of one arm section 142 rotating in the direction of the arrow (horizontal direction).

The pest trapping device 200, which is placed on the placement section 141 and held by the two arm sections 142, is transported to the placement area by the autonomous mobile robot 100 moving. Furthermore, by controlling the placement section 141 and the two arm sections 142, the pest trapping device 200 is lowered from the placement section 141 to the floor F and placed in the placement area.

Furthermore, when a predetermined condition is satisfied, the autonomous mobile robot 100 travels to the placement area. Here, the placement unit 141 and the two arm units 142 are controlled, so that the pest capture device 200 placed in the placement area is placed on the placement unit 141 from the placement area and then retrieved.

The placement and recovery unit 140 may have any configuration as long as the autonomous mobile robot 100 can transport the pest trapping device 200 to the placement area, place it there, and then recover the pest trapping device 200 from the placement area. For example, the placement and recovery unit 140 may include only the placement unit 141 or one of the two arm units 142.

The memory unit 150 is a storage device that stores the programs executed by the processing unit 120 and various information used to perform the above information processing. For example, the memory unit 150 stores a map of floor F generated by the map generation unit 122. The memory unit 150 is realized, for example, by a hard disk drive (HDD).

The second communication unit 160 is a processing unit for the autonomous mobile robot 100 to communicate with the pest trapping device 200 and the information terminal 400 via a wide area communication network such as the Internet. The second communication unit 160 transmits information indicating the position of one placement area determined by the determination unit 126 to the pest trapping device 200. The second communication unit 160 also acquires the number of captured pests (described later) transmitted by the first communication unit 210 of the pest trapping device 200. The communication performed by the second communication unit 160 is, for example, wireless communication, but may also be wired communication. There are no particular limitations on the communication standard used for the communication. The second communication unit 160 is, for example, realized by a microcomputer, but may also be realized by a processor.

[Pest trapping device]
Next, the pest trapping device 200 will be described.

As described above, the pest trapping device 200 is a device for trapping pests.

Figure 4 is an external perspective view of the pest trapping device 200 according to this embodiment. As shown in Figure 4, the external shape of the pest trapping device 200 is a rectangular parallelepiped. The pest trapping device 200 is also provided with an internal space for accommodating pests, an opening through which the pests can enter the internal space, and a shutter (not shown) for controlling the opening and closing of the opening.

Furthermore, the pest trapping device 200 has a pest trapping detection unit 220, a second control unit 230, a second drive unit 240, a first communication unit 210 and a pest attracting unit 250.

The pest capture detection unit 220 is a device that detects the number of pests captured by the pest capture device 200 placed in the placement area, and is, for example, an infrared sensor having a light emitting unit and a light receiving unit. The infrared sensor measures, for example, the amount of reflected infrared light, and detects the number of captured pests from the change in the amount of light when pests invade. The pest capture detection unit 220 may also be a camera that captures images, and the captured images may be processed to detect the number of captured pests. In this embodiment, the pest capture detection unit 220 is provided near the opening of the pest capture device 200. The pest capture detection unit 220 also outputs the detected number of captures to the first communication unit 210.

The second control unit 230 controls the second drive unit 240 to cause the pest trapping device 200 to travel autonomously. More specifically, the second control unit 230 causes the pest trapping device 200 to travel autonomously within a placement area based on information indicating the position of one placement area acquired from the second communication unit 160 via the first communication unit 210. For example, by allowing the pest trapping device 200 to travel autonomously, the pest trapping device 200 can fine-tune its own position within one placement area.

The second drive unit 240 is a member that moves the pest trapping device 200. As an example, the second drive unit 240 has second wheels 241 for traveling within the placement area on the floor F and on the placement unit 141, and a second motor 242 that applies torque to the second wheels 241. Here, four second wheels 241 are provided, but the number of second wheels 241 is not limited to this. The second control unit 230 can freely move the pest trapping device 200 forward, backward, etc. by independently controlling the rotation of the four first wheels 131. Note that the second drive unit 240 is not limited to the above, and may be a caterpillar or the like. The second drive unit 240 may have any configuration as long as it can move the pest trapping device 200.

The first communication unit 210 is a processing unit that enables the pest capture device 200 to communicate with the autonomous mobile robot 100 and the information terminal 400 via a wide area communication network such as the Internet. The communication performed by the second communication unit 160 is, for example, wireless communication, but may also be wired communication. There are no particular limitations on the communication standard used for the communication. The second communication unit 160 is, for example, realized by a microcomputer, but may also be realized by a processor.

As described above, the first communication unit 210 obtains information indicating the position of one placement area determined by the determination unit 126 from the second communication unit 160 and outputs the information to the second control unit 230.

Furthermore, the first communication unit 210 transmits the number of captures detected by the pest capture detection unit 220 to the second communication unit 160 of the autonomous mobile robot 100. Furthermore, the number of captures received by the second communication unit 160 is stored in the memory unit 150 of the autonomous mobile robot 100. In this case, the memory unit 150 stores information (hereinafter, referred to as capture information) linking the placement area in which the pest capture device 200 is placed with the number of captures in that placement area. More specifically, this information links the multiple placement areas in which the pest capture device 200 is placed with the number of captures in each of the multiple placement areas in a one-to-one relationship.

The pest attracting section 250 is a member for attracting pests into the internal space and for continuing to capture the pests in the internal space, and as an example, is a sheet-shaped member provided in the internal space. The pest attracting section 250 is a member that emits an odor that pests like, which attracts pests into the internal space and causes them to invade. Furthermore, the pest attracting section 250 is a member that has adhesive properties, and the pests can continue to be captured by adhering to the pest attracting section 250. In other words, it is difficult for a pest that has once invaded the pest trapping device 200 to get out of the pest trapping device 200 again.

[Base device]
The base device 300 will now be described.

The base device 300 is a device that houses the autonomous mobile robot 100. More specifically, the base device 300 is a device that houses the autonomous mobile robot 100 that has retrieved the pest capture device 200.

Figure 5 is an external perspective view of the autonomous mobile robot 100, pest capture device 200, and base device 300 according to this embodiment. As shown in Figure 5, the external shape of the base device 300 is a rectangular parallelepiped. The base device 300 is provided with an internal space for accommodating the autonomous mobile robot 100, and an opening for the autonomous mobile robot 100 to enter this internal space. For example, if the autonomous mobile robot 100 is driven by a built-in secondary battery, the base device 300 may have a member for charging the secondary battery.

The base device 300 also has a pest treatment unit 310.

The pest treatment unit 310 is a component for treating pests captured by the pest trapping device 200. In this embodiment, the pest treatment unit 310 treats pests captured by the pest trapping device 200 and collected by the autonomous mobile robot 100 housed in the base device 300. Here, "treating pests" means "killing" or "disposing of pests", etc.

Here, for example, a case will be described where the pest treatment unit 310 is a member for killing insects. The pest treatment unit 310 may be a member that sprays a chemical such as an insecticide into the internal space of the pest trapping device 200 placed on the mounting section 141 of the autonomous mobile robot 100. At this time, the opening of the pest trapping device 200 may be closed by a shutter of the pest trapping device 200.

Also, for example, a case will be described where the pest treatment unit 310 is a member for discharging pests to the outside. In this case, an opaque bag is provided in the internal space of the pest capture device 200 to seal in pests that have invaded the internal space. The pest treatment unit 310 is preferably a member for closing the opening of the opaque bag into which the pest has invaded. This allows the user U to dispose of the pest in a trash can or the like without having to visually check it.

[Information terminal]
Next, the information terminal 400 will be described. The information terminal 400 is, for example, a general-purpose mobile terminal such as a smartphone or tablet terminal owned by the user U, but may also be a dedicated terminal for the pest control system 1. The information terminal 400 has a communication unit and a display unit.

The communication unit of the information terminal 400 is a processing unit that enables the information terminal 400 to communicate with the autonomous mobile robot 100 via a wide area communication network such as the Internet. The communication performed by this communication unit is, for example, wireless communication, but may also be wired communication. There are no particular limitations on the communication standard used for the communication. The communication unit is, for example, realized by a microcomputer, but may also be realized by a processor.

The display unit of the information terminal 400 displays an image based on the received information. The display unit is, for example, a display panel such as a liquid crystal panel or an organic EL (Electro Luminescence) panel.

[Example of operation]
Below, we will explain two operation examples of the pest control system 1. First, we will explain an operation example in which the pest trapping device 200 is arranged.

Figure 6 is a flowchart of an example of the operation of the pest control system 1 according to this embodiment to deploy the pest trapping device 200.

First, it is determined whether or not a map of floor F is stored in the memory unit 150 (S10). For example, this determination may be made by the processing unit 120.

Next, a case where a map of floor F is not stored in the memory unit 150 (No in S10) will be described. This case is, for example, when the pest control system 1 is used on floor F for the first time.

At this time, the map generation unit 122 generates a map of floor F (S20). More specifically, it is as follows. In step S20, first, the first control unit 129 controls the first drive unit 130 to drive the autonomous mobile robot 100. Furthermore, the third acquisition unit 121 acquires sensing information sensed by the sensor 110 and outputs the sensing information to the map generation unit 122. Then, the map generation unit 122 generates a map of floor F based on the sensing information acquired by the third acquisition unit 121. As a result, the generated map of floor F is stored in the memory unit 150.

Then, the second acquisition unit 123 acquires the map of floor F stored in the memory unit 150 (S30). Furthermore, if a map of floor F is stored in the memory unit 150 (Yes in S10), step S20 is not performed and step S30 is performed. This case is, for example, when the pest control system 1 has been used on floor F at least once.

Furthermore, the first acquisition unit 124 acquires at least one of the shape of the floor F on which the autonomous mobile robot 100 travels, the position of an object placed on the floor F, and the shape of the object (S40). Here, the first acquisition unit 124 acquires a map of the floor F stored in the memory unit 150, and acquires the position of the object and the shape of the object indicated by the information contained in the map of the floor F.

Next, it is determined whether the number of captures detected by the pest capture detection unit 220 is stored in the memory unit 150 (S50). For example, this determination may be made by the processing unit 120.

Here, a case will be described where the number of captured insects is not stored in the memory unit 150 (No in S50). This case is, for example, the case where the pest control system 1 is used on floor F for the first time, as in the case of No in step S10.

In this case, the second acquisition unit 123 acquires placement conditions that indicate the conditions under which the pest trapping device 200 is placed (S60). Here, the second acquisition unit 123 acquires the placement conditions stored in the memory unit 150.

As an example, the placement condition is a condition indicating that an area with a volume equal to or less than a predetermined threshold value is to be the placement area in which the pest trapping device 200 is placed. This placement condition is the first placement condition. Note that the placement conditions are not limited to the above. For example, the second placement condition is a condition indicating that an area in which the distance between two objects when the floor F is viewed vertically is equal to or less than a predetermined threshold value is to be the placement area in which the pest trapping device 200 is to be placed. Furthermore, the third placement condition is a condition indicating that an area in a corner of the floor F is to be the placement area in which the pest trapping device 200 is to be placed.

The placement area indicated by the placement conditions is an area in which it is easier to capture pests using the pest trapping device 200. For example, the placement area indicated by the placement conditions may be an area determined based on the habits of the pests. For example, pests such as cockroaches and centipedes have a habit of preferring narrow spaces. The placement area indicated by the placement conditions may be determined to be a narrow space.

For example, the predetermined threshold value indicated by the first arrangement condition is, for example, 0.2 m ³ , 0.1 m ³ , or 0.05 m ³ . Furthermore, the predetermined threshold value indicated by the second arrangement condition is, for example, 50 cm, 30 cm, or 10 cm.

In this embodiment, the second acquisition unit 123 acquires the first placement condition and the second placement condition as the placement conditions.

Next, the area detection unit 125 detects the placement area on the floor F in which the pest capture device 200 is placed, based on at least one of the shape of the floor F, the position of the placement object, and the shape of the placement object acquired by the first acquisition unit 124.

Here, the area detection unit 125 detects the placement area in which the pest trapping device 200 is placed based on at least one of the above acquired by the first acquisition unit 124 and the placement conditions acquired by the second acquisition unit 123 (S70). More specifically, the area detection unit 125 detects the placement area based on the acquired position of the placement object and the shape of the placement object, and the acquired first and second placement conditions.

In this embodiment, as described above, the second acquisition unit 123 acquires the first and second placement conditions as placement conditions.

The first and second placement conditions are used as placement conditions.

First, a case where the first placement condition is used as the placement condition will be described. In this case, the area detection unit 125 detects the area below the bed B shown in FIG. 1 based on the shape of the object (bed B) and the first placement condition. The area with a volume below a predetermined threshold indicated by the first placement condition corresponds to the space below the bed B. In other words, the area detection unit 125 detects this space below the bed B as the placement area. Note that when the area detection unit 125 detects multiple placement areas based on the first placement condition, it detects the area with the smallest volume as the placement area.

Next, a case where the second placement condition is used as the placement condition will be described. In this case, the area detection unit 125 detects the area between the bed B and the shelf S shown in FIG. 1 based on the positions of the objects (bed B and shelf S) and the shapes of the objects (bed B and shelf S) and the second placement condition. The area where the distance between the two objects indicated by the second placement condition is equal to or less than a predetermined threshold corresponds to the area between the bed B and the shelf S. In other words, the area detection unit 125 detects this area between the bed B and the shelf S as the placement area. Note that when the area detection unit 125 detects multiple placement areas based on the second placement condition, it detects the one area with the smallest distance as the placement area.

In this manner, in this embodiment, the area detection unit 125 detects multiple (here, two) placement areas.

Furthermore, the determination unit 126 determines one placement area from among the detected multiple placement areas. For example, the determination unit 126 may determine the placement area that meets the first placement condition as a placement area with a higher priority than placement areas that meet other placement conditions. That is, in this case, the determination unit 126 determines the placement area that meets the first placement condition as one placement area. However, the method in which the determination unit 126 determines one placement area is not limited to this, and the determination unit 126 may determine one placement area based on a predetermined priority, for example.

Here, we will explain the case where the number of captured insects is stored in the memory unit 150 (Yes in S50). This case is, for example, the case where the pest control system 1 has been used at least once on floor F, as in the case where Yes is returned in step S10.

In this case, the determination unit 126 determines one of the multiple placement areas based on the detected number of captures (S71). More specifically, the determination unit 126 determines one placement area by referring to the capture information stored in the memory unit 150, which links the placement area in which the pest trapping device 200 is placed with the number of captures in that placement area. In other words, the determination unit 126 determines one placement area based on information on the past number of captures. For example, in this embodiment, the determination unit 126 determines the placement area with the largest number of captures in the past as the one placement area. Also, for example, the determination unit 126 may determine the placement area in which the most recent pest was captured as the one placement area.

Furthermore, the autonomous mobile robot 100 transports the pest capture device 200 to one of the detected placement areas (i.e., the one determined placement area) and places it there (S80).

More specifically, the first control unit 129 causes the autonomous mobile robot 100, in which the pest capture device 200 is placed on the placement unit 141, to travel along the route generated by the travel plan generation unit 127 to the one determined placement area. Note that the above route is generated by the map generation unit 122 based on the map of the floor F and the one placement area.

Furthermore, the first control unit 129 controls the placement unit 141 and the two arm units 142, so that the pest capture device 200 is lowered from the placement unit 141 to the floor F and placed in one placement area.

In other words, the autonomous mobile robot 100 transports the pest trapping device 200 to the detected placement area and places it there based on the map of the floor F.

In addition, it is preferable that the pest trapping device 200 travels autonomously within one placement area. Specifically, the second control unit 230 controls the second drive unit 240 to cause the pest trapping device 200 to travel autonomously. As described above, the pest trapping device 200 can finely adjust its own position within one placement area. This allows the pest trapping device 200 to be placed at a position within the placement area where there is a higher probability of pests being present.

Furthermore, when a predetermined condition is satisfied, the autonomous mobile robot 100 retrieves the deployed pest trapping device 200 from the deployment area. Here, an example of the operation in which the pest trapping device 200 is retrieved will be described.

Figure 7 is a flowchart of an example of the operation of the pest control system 1 according to this embodiment to retrieve the pest trapping device 200.

First, it is determined whether the number of pests captured by the pest trapping device 200 placed in step S80 shown in FIG. 6 is equal to or greater than a predetermined number (S110). For example, this determination may be made by the processing unit 120. That is, in step S110, the above-mentioned predetermined condition is a condition indicating that the number of captured pests has reached a predetermined number.

Specifically, in the pest trapping device 200 placed in step S80, the pest trapping detection unit 220 outputs the number of pests trapped by the pest trapping device 200 to the first communication unit 210 at regular intervals. The first communication unit 210 acquires the number of trapped pests output by the pest trapping detection unit 220 and transmits it to the second communication unit 160 of the autonomous mobile robot 100. The processing unit 120 then determines whether the number of trapped pests received by the second communication unit 160 is a predetermined number (e.g., three) or more. Note that the predetermined number is not limited to the above three, and may be, for example, between a few and a dozen or less.

If it is determined that the number of captured pests is less than the predetermined number (No in S110), it is determined whether or not a predetermined time has passed since the pest trapping device 200 placed in step S80 was placed (S120). For example, this determination may be made by the processing unit 120. That is, in step S110, the above-mentioned predetermined condition is a condition indicating that a predetermined time has passed since the pest trapping device 200 was placed. Here, the predetermined time is, for example, one week, but is not limited to this.

Furthermore, when a predetermined condition is satisfied (Yes in S110 and Yes in S120), the autonomous mobile robot 100 retrieves the deployed pest capture device 200 from the deployment area.

More specifically, the first control unit 129 controls the placement unit 141 and the two arm units 142 to place the placed pest trapping device 200 on the placement unit 141 from the placement area and to retrieve it. Here, it is preferable that the pest trapping device 200 travels autonomously so that the pest trapping device 200 is placed on the placement unit 141.

Furthermore, the autonomous mobile robot 100 with the pest capture device 200 placed on the placement section 141 travels from the placement area to the base device 300 and is housed in the base device 300. Next, the pests are treated by the pest treatment section 310 of the base device 300.

If a predetermined time has not elapsed since the pest trapping device 200 placed in step S80 was placed (No in S120), the autonomous mobile robot 100 ends the process without retrieving the placed pest trapping device 200 from the placement area.

The second communication unit 160 also transmits the detected number of captures to the information terminal 400 of the user U. This allows the user U, who is the owner of the information terminal 400, to recognize the number of captures.

The second communication unit 160 also transmits the detected multiple placement areas and a map of floor F to the information terminal 400. As shown in FIG. 1, the display unit of the information terminal 400 displays two placement areas indicated by rectangular dashed lines. This allows the user U to recognize the placement area in which the pest trapping device 200 is placed.

[Effects, etc.]
The pest control system 1 according to the present embodiment includes a pest trapping device 200 for trapping pests, an autonomous mobile robot 100 that travels autonomously and transports the pest trapping device 200, a first acquisition unit 124, an area detection unit 125, and a second acquisition unit 123. The first acquisition unit 124 acquires at least one of the shape of a floor F on which the autonomous mobile robot 100 travels, the position of an object placed on the floor F, and the shape of the object. The area detection unit 125 detects an arrangement area on the floor F in which the pest trapping device 200 is arranged based on at least one of the acquired items. The second acquisition unit 123 acquires a map of the floor F. The autonomous mobile robot 100 transports the pest trapping device 200 to the detected arrangement area based on the map of the floor F and arranges it there, and when a predetermined condition is met, retrieves the arranged pest trapping device 200 from the arrangement area.

As a result, the pest trapping device 200 placed in the placement area where it is easy to trap pests can easily trap pests. Furthermore, the pest trapping device 200 that has captured the pest is collected by the autonomous mobile robot 100, which prevents the pest's corpses from being left around the room, unlike Patent Document 1. This reduces the burden on the user U to collect the pest's corpses. Furthermore, because the captured pest is contained in the pest trapping device 200, the user U cannot easily see the pest's corpse, and the user is less likely to feel uncomfortable. As a result, a pest extermination system 1 that supports easy pest extermination is realized.

In addition, unlike the pest control system disclosed in Patent Document 1, no chemicals are sprayed in the room, so the user U can use the pest control system 1 according to this embodiment with peace of mind.

For example, the second acquisition unit 123 also acquires placement conditions indicating the conditions under which the pest trapping device 200 is placed. The area detection unit 125 detects the placement area based on at least one of the acquired placement conditions and the acquired placement conditions.

The placement area indicated by the placement conditions is an area in which it is easier for the pest trapping device 200 to trap pests. A pest trapping device 200 placed in such a placement area will be able to trap pests more easily. In other words, a pest control system 1 is realized that helps to exterminate pests more easily.

Also, for example, the placement condition (first placement condition) indicates that an area with a volume equal to or less than a predetermined threshold value is to be the placement area in which the pest capture device 200 is placed.

The placement area indicated by the placement conditions corresponds to a place preferred by pests, and is an area in which it is easier to capture pests using the pest trapping device 200. A pest trapping device 200 placed in such a placement area will be able to capture pests even more easily.

Also, for example, the specified condition is a condition indicating that a specified time has elapsed since the pest trapping device 200 was placed.

As a result, after the pest trapping device 200 has captured the pests for a sufficient amount of time, the autonomous mobile robot 100 retrieves the pest trapping device 200. Thus, the autonomous mobile robot 100 can more efficiently retrieve the pest trapping device 200 that has captured the pests.

For example, the pest control system 1 further includes a pest capture detection unit 220 that detects the number of pests captured by the deployed pest capture device 200, and a determination unit 126. The area detection unit 125 detects multiple placement areas. The determination unit 126 determines one of the multiple placement areas based on the detected number of captures. The autonomous mobile robot 100 transports the pest capture device 200 to the determined one placement area based on the map of the floor F and places it there, and when a predetermined condition is met, retrieves the deployed pest capture device 200 from the one placement area.

This allows the determination unit 126 to determine a placement area based on information on the number of captures in the past. The pest trapping device 200 placed in such a placement area will be able to capture pests even more easily.

For example, the pest capture detection unit 220 is provided in the pest capture device 200. The pest capture device 200 has a first communication unit 210 that transmits the detected number of captures to the autonomous mobile robot 100. The specified condition is a condition that indicates that the transmitted number of captures has reached a specified number.

As a result, after the pest trapping device 200 has captured a sufficient number of pests, the autonomous mobile robot 100 retrieves the pest trapping device 200. Therefore, the autonomous mobile robot 100 can more efficiently retrieve the pest trapping device 200 that has captured the pests.

For example, the autonomous mobile robot 100 also includes a second communication unit 160 that transmits the detected number of captures to the information terminal 400.

This allows the user U, who is the owner of the information terminal 400, to recognize the number of pests that have been captured.

Also, for example, the pest capture device 200 moves autonomously.

This allows the pest trapping device 200 to be placed in a location within the placement area where pests are more likely to be present. The pest trapping device 200 placed in such a location is more likely to trap pests.

For example, the pest control system 1 further includes a pest processing unit 310 that processes the pests captured by the collected pest trapping device 200.

This allows the captured pests to be disposed of (specifically, killed or disposed of). In other words, a pest control system 1 is realized that helps to exterminate pests more easily.

Also, for example, the autonomous mobile robot 100 according to this embodiment is an autonomous mobile robot 100 that travels autonomously. The autonomous mobile robot 100 includes a first acquisition unit 124, an area detection unit 125, and a second acquisition unit 123. The first acquisition unit 124 acquires at least one of the shape of the floor F on which the autonomous mobile robot 100 travels, the position of an object placed on the floor F, and the shape of the object. The area detection unit 125 detects an arrangement area on the floor F in which a pest trapping device 200 for trapping pests is arranged based on at least one of the acquired items. The second acquisition unit 123 acquires a map of the floor F. The autonomous mobile robot 100 transports the pest trapping device 200 to the detected arrangement area based on the map of the floor F and arranges it, and when a predetermined condition is met, retrieves the arranged pest trapping device 200 from the arrangement area.

As a result, the pest trapping device 200 placed in the placement area where it is easy to trap pests can easily trap pests. Furthermore, the pest trapping device 200 that has captured the pest is collected by the autonomous mobile robot 100. This reduces the burden on the user U of collecting the pest carcasses. In addition, because the captured pest is contained in the pest trapping device 200, the user U cannot easily see the pest carcasses, and the user is less likely to feel uncomfortable. In other words, an autonomous mobile robot 100 that easily assists in exterminating pests is realized.

For example, the pest trapping device 200 according to this embodiment is a pest trapping device 200 for trapping pests. The pest trapping device 200 travels autonomously. The pest trapping device 200 is transported and placed by an autonomous mobile robot 100 that transports the pest trapping device 200. The placed pest trapping device 200 is retrieved by the autonomous mobile robot 100 when a predetermined condition is satisfied.

As a result, the pest trapping device 200 that has captured the pest is collected by the autonomous mobile robot 100. This reduces the burden on the user U of collecting the pest carcasses. In addition, because the captured pest is contained in the pest trapping device 200, the user U cannot easily see the pest carcasses, and the user is unlikely to feel uncomfortable. In other words, a pest trapping device 200 that easily assists in exterminating pests is realized.

For example, the pest trapping device 200 also includes a pest trap detection unit 220 that detects the number of trapped pests, and a first communication unit 210 that transmits the detected number of trapped pests to the autonomous mobile robot 100 that travels autonomously and transports the pest trapping device 200. The predetermined condition is a condition that indicates that the transmitted number of trapped pests has reached a predetermined number.

As a result, after the pest trapping device 200 has captured a sufficient number of pests, the autonomous mobile robot 100 retrieves the pest trapping device 200. Therefore, the autonomous mobile robot 100 can more efficiently retrieve the pest trapping device 200 that has captured the pests.

Also, for example, the pest capture device 200 moves autonomously.

As a result, for example, the pest trapping device 200 is placed in a position in the placement area where pests are more likely to be present. The pest trapping device 200 placed in such a position is more likely to trap pests.

(Embodiment 2)
[composition]
Next, the configuration of the autonomous mobile robot 100a according to the second embodiment will be described.

Figure 8 is a diagram showing the configuration of the autonomous mobile robot 100a according to this embodiment.

Figure 9 is a block diagram showing the functional configuration of the autonomous mobile robot 100a according to this embodiment.

The autonomous mobile robot 100a according to this embodiment has the same configuration as the autonomous mobile robot 100 according to the first embodiment, except for one main point below. The one point is that the autonomous mobile robot 100a does not have a deployment and collection unit 140.

The autonomous mobile robot 100a according to this embodiment is a device for assisting a user U in exterminating pests. The autonomous mobile robot 100a is a device that detects a placement area in which a pest trapping device 200 for trapping pests is placed, and transmits the position of the detected placement area on a map of floor F and the map of floor F to an information terminal 400. The user U places the pest trapping device based on the transmitted position of the placement area and the map of floor F. Note that a publicly known pest trapping device may be used as the pest trapping device according to this embodiment.

As shown in FIG. 9, the autonomous mobile robot 100a according to this embodiment differs from the autonomous mobile robot 100 according to embodiment 1 in that it does not have a deployment and recovery unit 140. In other words, the autonomous mobile robot 100a does not deploy a pest capture device, and does not recover a pest capture device.

[Example of operation]
An example of the operation of the autonomous mobile robot 100a will be described below.

Figure 10 is a flowchart of an example of the operation of the autonomous mobile robot 100a according to this embodiment.

Steps S10, S20, and S30 shown in FIG. 10 are processed in the same manner as in embodiment 1.

Furthermore, the first acquisition unit 124 acquires at least one of the shape of the floor F on which the autonomous mobile robot 100a travels, the positions of the objects placed on the floor F, and the shapes of the objects (S40). As shown in FIG. 8, the objects are shelves S1 and S2. Here, the first acquisition unit 124 acquires a map of the floor F stored in the memory unit 150, and acquires the shape of the floor F indicated by the information contained in the map of the floor F, the positions of the objects placed on the floor F, and the shapes of the objects.

Then, the second acquisition unit 123 acquires placement conditions indicating the conditions under which the pest trapping device 200 is placed (S60). In this embodiment, the second acquisition unit 123 acquires the second placement conditions and the third placement conditions as the placement conditions.

Next, the area detection unit 125 detects the placement area on the floor F where the pest trapping device 200 is placed based on at least one of the shape of the floor F, the position of the placed object, and the shape of the placed object acquired by the first acquisition unit 124 (S72). More specifically, the area detection unit 125 detects the placement area where the pest trapping device 200 is placed based on the shape of the floor F, the position of the placed object, and the shape of the placed object acquired by the first acquisition unit 124 and the second and third placement conditions acquired by the second acquisition unit 123.

In this embodiment, as described above, the second acquisition unit 123 acquires the first and second placement conditions as placement conditions.

First, we will explain the case where the second placement condition is used as the placement condition. In this case, the area detection unit 125 detects the area between shelves S1 and S2 shown in FIG. 8 based on the position and shape of the placed object and the second placement condition. The area where the distance between two placed objects indicated by the second placement condition is equal to or less than a predetermined threshold corresponds to the area between shelves S1 and S2. In other words, the area detection unit 125 detects the area between shelves S1 and S2 as the placement area.

Next, a case where the third placement condition is used as the placement condition will be described. In this case, the area detection unit 125 detects the corner area of floor F shown in FIG. 1 based on the shape of the floor, the position of the placed object, and the third placement condition. In other words, the area detection unit 125 detects the corner area of floor F indicated by the third placement condition as the placement area.

In this manner, in this embodiment, the area detection unit 125 detects multiple (here, two) placement areas.

Furthermore, the second communication unit 160 transmits the position of the detected placement area on the map of floor F and the map of floor F to the information terminal 400 (S90). As shown in FIG. 8, the display unit of the information terminal 400 displays two placement areas indicated by rectangular dashed lines.

[Effects, etc.]
Also, for example, the autonomous mobile robot 100a according to the present embodiment is an autonomous mobile robot 100a that travels autonomously. The autonomous mobile robot 100a includes a first acquisition unit 124, an area detection unit 125, a second acquisition unit 123, and a second communication unit 160. The first acquisition unit 124 acquires at least one of the shape of a floor F on which the autonomous mobile robot 100a travels, the position of an object placed on the floor F, and the shape of the object. The area detection unit 125 detects an arrangement area on the floor F in which a pest trapping device for trapping pests is arranged, based on at least one of the acquired pieces of information. The second acquisition unit 123 acquires a map of the floor F. The second communication unit 160 transmits the position of the detected arrangement area on the map of the floor F and the map of the floor F.

This allows the user U to place the pest trapping device in a placement area where it is easy to trap pests. A pest trapping device placed in such a placement area makes it easier to trap pests. In other words, an autonomous mobile robot 100a that easily assists in exterminating pests is realized.

Other Embodiments
Although the embodiment has been described above, the present invention is not limited to the above embodiment.

For example, in the first embodiment, the pest control system 1 is realized by multiple devices, but the components of the pest control system 1 may be distributed in any way among the multiple devices. Also, for example, a server device capable of communicating with the pest control system 1 may be provided with multiple components including the processing unit 120.

For example, the method of communication between the devices in the above embodiment is not particularly limited. In addition, a relay device (not shown) may be used in the communication between the devices.

In addition, in the above embodiment, the processing performed by a specific processing unit may be executed by another processing unit. Also, the order of multiple processes may be changed, and multiple processes may be executed in parallel.

The pest treatment unit 310 is not limited to a component that sprays insecticides or other chemicals. The pest treatment unit 310 may be a component that kills insects by electric shock, air pressure, laser light irradiation, or the like, and any known method of killing insects may be used.

In addition, in the above embodiment, each component may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

Furthermore, each component may be realized by hardware. For example, each component may be a circuit (or an integrated circuit). These circuits may form a single circuit as a whole, or each may be a separate circuit. Furthermore, each of these circuits may be a general-purpose circuit, or a dedicated circuit.

In addition, the general or specific aspects of the present invention may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM. Also, the present invention may be realized as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium.

For example, the present invention may be realized as a pest control method executed by a computer such as the pest control system 1, or as a program for causing a computer to execute such a pest control method. The present invention may also be realized as a program for causing a general-purpose computer to operate as the information terminal of the above-described embodiment. The present invention may also be realized as a computer-readable non-transitory recording medium on which these programs are recorded.

In addition, the present invention also includes forms obtained by applying various modifications to each embodiment that a person skilled in the art may conceive, or forms realized by arbitrarily combining the components and functions of each embodiment within the scope of the spirit of the present invention.

The present invention can be applied to a pest control system that helps to easily exterminate pests.

1 Pest control system 100, 100a Autonomous mobile robot 110 Sensor 120 Processing unit 121 Third acquisition unit 122 Map generation unit 123 Second acquisition unit 124 First acquisition unit 125 Area detection unit 126 Determination unit 127 Travel plan generation unit 128 Self-position estimation unit 129 First control unit 130 First drive unit 131 First wheel 132 First motor 140 Placement and recovery unit 141 Placement unit 142 Arm unit 150 Memory unit 160 Second communication unit 200 Pest trapping device 210 First communication unit 220 Pest trapping detection unit 230 Second control unit 240 Second drive unit 241 Second wheel 242 Second motor 250 Pest attracting unit 300 Base device 310 Pest treatment unit 400 Information terminal B Bed F Floor S, S1, S2 Shelf U User

Claims (10)

A pest trapping device for trapping pests;
an autonomous traveling robot that autonomously travels and transports the pest trapping device;
A first acquisition unit that acquires at least one of a shape of a floor on which the autonomous robot travels, a position of an object placed on the floor, and a shape of the object;
an area detection unit that detects an arrangement area in which the pest trapping device is arranged on the floor based on the at least one of the acquired items;
A second acquisition unit that acquires a map of the floor;
Equipped with
The autonomous robot comprises:
Based on the map, the pest trapping device is transported to the detected placement area and placed therein;
When a predetermined condition is satisfied, the deployed pest trapping device is retrieved from the deployment area ;
The second acquisition unit acquires a placement condition indicating a condition under which the pest trapping device is placed,
The area detection unit detects the placement area based on the acquired at least one and the acquired placement condition,
the placement conditions are a first placement condition and a second placement condition,
the first placement condition indicates that an area having a volume equal to or smaller than a predetermined threshold is set as the placement area in which the pest trapping device is to be placed;
The second placement condition indicates that the placement area in which the pest trapping device is placed is an area in which a distance between two of the objects is equal to or less than a predetermined threshold value when the floor is viewed vertically.
Pest control system. The pest control system according to claim 1 , wherein the predetermined condition is a condition indicating that a predetermined time has elapsed since the pest trapping device was deployed. A pest capture detection unit that detects the number of pests captured by the pest trapping device;
A determination unit,
The area detection unit detects a plurality of the placement areas,
The determination unit determines one of the plurality of placement areas based on the detected number of captures;
The autonomous robot comprises:
Based on the map, the pest trapping device is transported to the one determined placement area and placed therein;
The pest control system according to claim 1 or 2 , wherein the deployed pest trapping device is retrieved from the one deployment area when the predetermined condition is satisfied. The pest capture detection unit is provided in the pest capture device,
The pest trapping device has a first communication unit that transmits the detected number of trapped insects to the autonomous mobile robot,
The pest control system according to claim 3 , wherein the predetermined condition is a condition indicating that the transmitted number of captured insects has reached a predetermined number. The pest control system according to claim 3 or 4 , wherein the autonomous mobile robot includes a second communication unit that transmits the detected number of captured insects to an information terminal. The pest control system according to any one of claims 1 to 5 , wherein the pest trapping device moves autonomously. The pest control system according to any one of claims 1 to 6 , further comprising a pest treatment section that treats the pests captured by the retrieved pest trapping device. An autonomous robot that travels autonomously,
A first acquisition unit that acquires at least one of a shape of a floor on which the autonomous robot travels, a position of an object placed on the floor, and a shape of the object;
an area detection unit that detects an arrangement area on the floor in which a pest trapping device for trapping pests is arranged based on the at least one acquired information;
A second acquisition unit that acquires a map of the floor;
A drive unit that drives the autonomous robot;
a placement and recovery section for placing the pest trapping device and recovering the pest trapping device;
A control unit that controls the drive unit and the placement and recovery unit;
Equipped with
The control unit of the autonomous robot includes :
Based on the map, the driving unit and the placement/recovery unit are controlled to transport the pest trapping device to the detected placement area and place the device therein;
When a predetermined condition is satisfied, the placing and recovering unit is controlled to recover the placed pest trapping device from the placement area;
The second acquisition unit acquires a placement condition indicating a condition under which the pest trapping device is placed,
The area detection unit detects the placement area based on the acquired at least one and the acquired placement condition,
the placement conditions are a first placement condition and a second placement condition,
the first placement condition indicates that an area having a volume equal to or smaller than a predetermined threshold is set as the placement area in which the pest trapping device is to be placed;
The second placement condition indicates that the placement area in which the pest trapping device is placed is an area in which a distance between two of the objects is equal to or less than a predetermined threshold value when the floor is viewed vertically.
Autonomous driving robot. An autonomous robot that travels autonomously,
A first acquisition unit that acquires at least one of a shape of a floor on which the autonomous robot travels, a position of an object placed on the floor, and a shape of the object;
an area detection unit that detects an arrangement area on the floor in which a pest trapping device for trapping pests is arranged based on the at least one acquired information;
A second acquisition unit that acquires a map of the floor;
a second communication unit that transmits the detected position of the placement area on the map and the map to an information terminal owned by a user of the autonomous mobile robot ;
Equipped with
The second acquisition unit acquires a placement condition indicating a condition under which the pest trapping device is placed,
The area detection unit detects the placement area based on the acquired at least one and the acquired placement condition,
the placement conditions are a first placement condition and a second placement condition,
the first placement condition indicates that an area having a volume equal to or smaller than a predetermined threshold is set as the placement area in which the pest trapping device is to be placed;
The second placement condition indicates that the placement area in which the pest trapping device is placed is an area in which a distance between two of the objects is equal to or less than a predetermined threshold value when the floor is viewed vertically.
Autonomous driving robot. A pest trapping device for trapping pests, comprising:
The pest trapping device is transported and placed by an autonomous traveling robot that travels autonomously and transports the pest trapping device,
The deployed pest trapping device is retrieved by the autonomous mobile robot when a predetermined condition is satisfied ;
The pest trapping device is
a pest capture detection unit that detects the number of captured pests;
A first communication unit that transmits the detected number of captured insects to the autonomous mobile robot that autonomously travels and transports the pest trapping device;
Equipped with
the predetermined condition is a condition indicating that the transmitted number of captures has reached a predetermined number;
The pest trapping device travels autonomously.
Insect trapping device.

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