EP0913342B1 - Verfahren und Vorrichtung zum gewichtsmässigen Erfassen des gekippten Müllbehälterinhalts - Google Patents

Verfahren und Vorrichtung zum gewichtsmässigen Erfassen des gekippten Müllbehälterinhalts Download PDF

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Publication number
EP0913342B1
EP0913342B1 EP98203576A EP98203576A EP0913342B1 EP 0913342 B1 EP0913342 B1 EP 0913342B1 EP 98203576 A EP98203576 A EP 98203576A EP 98203576 A EP98203576 A EP 98203576A EP 0913342 B1 EP0913342 B1 EP 0913342B1
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EP
European Patent Office
Prior art keywords
container
mass
samples
during
movement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Revoked
Application number
EP98203576A
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English (en)
French (fr)
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EP0913342A1 (de
Inventor
Paul Jan Bernard Nijdam
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Exploitatiemaatschappij Berghaaf BV
Original Assignee
EXPL MIJ DE BERGHAAF BV
Exploitatiemaatschappij Berghaaf BV
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Publication date
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Application filed by EXPL MIJ DE BERGHAAF BV, Exploitatiemaatschappij Berghaaf BV filed Critical EXPL MIJ DE BERGHAAF BV
Publication of EP0913342A1 publication Critical patent/EP0913342A1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F1/00—Refuse receptacles; Accessories therefor
    • B65F1/14—Other constructional features; Accessories
    • B65F1/1484—Other constructional features; Accessories relating to the adaptation of receptacles to carry identification means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/001—Vehicles particularly adapted for collecting refuse for segregated refuse collecting, e.g. vehicles with several compartments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F3/04—Linkages, pivoted arms, or pivoted carriers for raising and subsequently tipping receptacles
    • B65F3/041—Pivoted arms or pivoted carriers
    • B65F3/046—Pivoted arms or pivoted carriers with additional means for assisting the tipping of the receptacle after or during raising
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F2003/022—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto the discharging means comprising a device for determining the weight of the content of refuse receptacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F2003/0223—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto the discharging means comprising elements for holding the receptacle
    • B65F2003/0236—Suction or vacuum heads

Definitions

  • the invention relates to a method according to the preamble of claim 1.
  • EP-A-0402352 A method of this type is disclosed by EP-A-0402352.
  • the weight of a load is measured, at the same time the acceleration experienced by the load is measured. Then a measured weight value is divided by a measured acceleration value resulting in a value for the mass of the load at the time of said measurements.
  • a measured acceleration value is divided by a measured acceleration value resulting in a value for the mass of the load at the time of said measurements.
  • an average value for the mass of the load is calculated from the individual calculated mass values corresponding to said pairs of measurements respectively.
  • the prior art method has the disadvantage that the result, i.e. said calculated average for the mass of the load, is highly dependent on the measurements of each of said pairs of measurements being carried out at exactly the same time. Further, since a means for measuring the weight is not the same means for measuring the acceleration and therefore the weight and acceleration are measured at different locations, a mechanical disturbance at some place of the system will evolve differently towards the different measuring means, so that measuring signals or samples taken therefrom at some specific short moment of time will contain changes which may be caused by the same event but the correlation of which is unknown and time dependent. Since in practice it will be likely that vibrations in the measuring system will occur a mass value calculated from a weight value and an acceleration value measured at a specific time may have a wide range of uncertainty due to disturbances. Uncertainty cannot be ruled out by calculating an average of several individual calculated mass values if the individual values all have such uncertainty range, as is the case in practice.
  • a method of the above type is employed for emptying containers which contain, in particular, domestic refuse into a loading space of a refuse-collection vehicle.
  • By determining the weight of the contents of the containers it is possible to determine the degree of loading of the vehicle, so that it is possible to check the value of the net weight of waste in the vehicle, for which an operator of the vehicle may be charged, by means of a weighbridge at a refuse depot.
  • a weighbridge at a refuse depot.
  • individuals who present the containers as a function of the net weight of the contents which is measured.
  • load cells have a preferred measurement direction, i.e. an output signal thereof represents a component of the weight which is resolved vectorially in a specific direction, rather than the total weight. Since the vectorially resolved weight component is dependent on the angle between the preferred measurement direction of the load cell and a vertical line, the result is a measurement error which is dependent on the angle of inclination of the vehicle and on the angle of swing of a lifting arm to which the cell is attached and which is used for lifting the container.
  • the object of the invention is to eliminate the abovementioned drawbacks.
  • This method makes the calculated mass quantity largely insensitive to changes in the acceleration of the container during the upwards and downwards movements thereof and makes the mass value calculated substantially insensitive to whether or not these movements are purely vertical. Consequently, the measurements and calculations can extend over longer sections of these movements and differences in the measured values can be compensated. Furthermore, as a result, a high level of accuracy of the calculated mass of the contents of the container is achieved.
  • the invention also relates to a device as described in claim 4.
  • the figure shows a rear section 1 of a refuse-collection vehicle, in particular for collecting domestic refuse.
  • the rear section 1 of the vehicle is a loading section and has a lower conveying chute 2 having a base 3 and an opening 4 for tipping in refuse and, above these, and separated therefrom, an upper conveying chute 5 with a base 6 and an opening 7 for tipping in refuse.
  • a lifting device which comprises two identical, parallel arms 10, front ends of which can rotate about a common shaft 11 and rear ends of which are coupled to an engagement seat 14 which can rotate about a common pin 12.
  • a front end of a hydraulic cylinder 15 is coupled to the vehicle in such a manner that it can rotate about a horizontal pin 16, while a rear end of the cylinder 15 is coupled to the arm 10 in such a manner that it can rotate about a horizontal pin 17 and is at a distance from the axis of the arm 10.
  • the seat 14 can be moved upwards and downwards with respect to the vehicle along a curved path which is indicated by the double arrow 18.
  • the seat 14 comprises a front section 21 and a rear section 22, between which a load cell 24 is arranged.
  • An acceleration sensor 25 is attached to the load cell 24.
  • the preferred measuring directions of the sensors 24, 25, i.e. the directions in which they supply the most significant and/or most accurate measurement signals, are preferably parallel to one another.
  • a receiving comb 28 is arranged on the top of the rear section 22 of the seat 14.
  • the rear section 22 of the seat 14 has a flexible suction cup 29, a suction chamber of which is open at the rear and is in communication with evacuation means (not shown).
  • casing 31 In the vicinity of a bottom position of the seat 14, a casing 31 is arranged on the vehicle, in which casing optical detection means (not shown in more detail) are arranged for the purpose of detecting one or more properties of an object on which the receiving comb 28 and the suction cup 29 engage.
  • the load cell 24, the acceleration sensor 25 and the detection means in the casing 31 are electrically connected to a computer device (not shown) which is arranged in the cab of the vehicle.
  • the seat 14 is suitable for engaging on and holding various types of containers with various dimensions and contents, such as the container 33 illustrated, by means of its receiving comb 28 and suction cup 29.
  • the container 33 comprises a barrel 34 and a lid 35 which, at the rear side of the container 33, can rotate about a horizontal pin.
  • the barrel 34 has a collar or rim 37 which is folded downwards and into which the receiving comb 28 can be inserted at the front for the purpose of suspending the container 33 therefrom.
  • a label 38 is arranged on the front of the container 33, which label includes a code area 39, for example comprising dots, which determines one or more properties of the container 33.
  • Some of the properties which can be derived from the code area 39 either directly or by consulting a data file, indicate the type of container, i.e. the size of the container 33, and/or the type of contents for which the container is intended.
  • a container may be intended only for compostible waste, only for noncompostible waste or for both types of waste.
  • the container 33 may be provided with a vertical partition 42 which divides the container 33 into a front compartment 43 for, for example, compostible material and rear compartment 44 for, for example, noncompostible material.
  • the device operates as follows:
  • the arm 10 is moved upwards, so that the receiving comb 28 engages on the bottom of the collar 37 of the container 33 and the suction cup 29 bears against the container 33 and is sucked onto the container 33 by means of the evacuation means.
  • the arm 10 moves relatively slowly upwards and the detection means arranged in the casing 31 detect the code area 39 of the container 33 which is held by the seat 14.
  • the arm 10 is moved to the height position C, the higher position D or the even higher position E.
  • the movement of the arm 10 is decelerated.
  • the weighing window is closed.
  • the cylinder 26 is actuated, so that the seat 14, together with the container 33, will rotate about the pin 12 sufficiently far for the container 33 to be emptied via the opening 4 and/or the opening 7. If the container 33 is tilted into position C, the entire contents of the container are tipped into the chute 2.
  • the container 33 If the container 33 is tilted into position D, the top edge of the partition 42 will bear against the top edge of the inclined section of the base 6 of the top conveying chute 5, with the result that refuse from the compartment 43 of the container 33 can be tipped into the chute 2 and refuse from the compartment 44 of the container 33 is tipped into the chute 5. If the container 33 is tilted into position E, the entire contents of the container are tipped into the chute 5.
  • the same weighing time window can be used as for the upwards movement.
  • the computer device takes successive samples of the output signals which are transmitted by the load cell 24 and the acceleration sensor 25. For each of the upwards and downwards movements, from each output signal, by way of example, 100 samples are taken per second, in particular more than twice the highest vibration frequency (Nyquist frequency) of the container 33 in the seat 14. Then, for each of the movements, a first series of samples for the weight and a second series of samples for the acceleration are obtained, each comprising approximately 500 samples.
  • F is the force measured by the load cell 24 and m and a are respectively the mass and the acceleration of the mass as measured by the acceleration sensor 25 and causing the force F.
  • the sum ⁇ F i (first sum) and the sum ⁇ a i (second sum) can be obtained simply by adding up the relevant samples, so that the mass m can also be calculated simply by dividing the first sum by the second sum.
  • the contents of the container 33 and the fact that the container is suspended from the receiving comb 28 may cause a variation in the measurement of the weight, owing to the short duration of the vibration and the compensation by adding up a relatively large number of samples of the measurement signal for the weight, this has no effect, or scarcely any effect, on the first sum ⁇ F i .
  • the acceleration sensor 25 is arranged on the seat 14 and not on the container 33, the acceleration sensor 25 will not experience the said vibration. As a result, the mass calculated according to the formula given above is independent of the said vibration.
  • the result is independent of the local gravitational acceleration, independent of any slope on which the vehicle is standing and independent of a distance over which measurements are carried out during the movements of the container 33.
  • a value of the gross mass of the seat 14 and the container 33 with contents is obtained.
  • a value of the tare mass of the seat 14 and the container 33 which may or may not have been completely emptied, is obtained.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Refuse-Collection Vehicles (AREA)
  • Refuse Collection And Transfer (AREA)
  • Sampling And Sample Adjustment (AREA)

Claims (7)

  1. Verfahren zum Bestimmen eines Massebetrags von aus einem Abfallbehälter (33) ausgeschüttetem Abfall, wobei der Behälter in einer Weise nach oben bewegt, gekippt und zurückbewegt wird, daß er sich entleert, das Gewicht und die Beschleunigung des Behälters während der Aufwärts- und der Abwärtsbewegung gemessen werden, um ein Gewichtsmessungssignal bzw. ein Beschleunigungsmessungssignal zu erhalten, eine Reihe von Abtastwerten aus jedem der Meßsignale entnommen wird, aus dem während der Aufwärtsbewegung entnommenen Abtastwerten eine Bruttomasse berechnet wird, aus den während der Abwärtsbewegung entnommenen Abtastwerten eine Taramasse berechnet wird und die berechnete Taramasse von der berechneten Bruttomasse subtrahiert wird, um die Masse des ausgeschütteten Abfalls zu berechnen, dadurch gekennzeichnet, daß für jede der Bewegungen aus dem Gewichtsmessungssignal entnommene Abtastwerte summiert werden, um eine erste Summe für ein Bruttogewicht zu erhalten und aus dem Beschleunigungsmessungssignal entnommene Abtastwerte summiert werden, um eine zweite Summe für die Beschleunigung zu erhalten, und für jede der Bewegungen die erste Summe durch die zweite Summe dividiert wird, um einen Wert für die Bruttomasse bzw. einen Wert für die Taramasse zu erhalten.
  2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß die Entnahme von Abtastwerten während der Aufwärtsbewegung solange durchgeführt wird, bis eine Maximalhöhe (C, D, E) erreicht ist, bis zu der der Behälter (33) bewegt wird, und die Entnahme von Abtastwerten während der Abwärtsbewegung bei dieser Maximalhöhe gestartet wird.
  3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet daß vor der Entnahme von Abtastwerten während der Aufwärtsbewegung eine Eigenschaft des Behälters (33) gemessen wird, die den Behältertyp angibt und die Maximalhöhe (C, D, E) für die Aufwärtsbewegung vorschreibt.
  4. Vorrichtung zum Bestimmen eines Massebetrags von aus einem Abfallbehälter (33) ausgeschüttetem Abfall, mit einer Greifeinrichtung (14), einer Hebeeinrichtung (15) und einer Kippeinrichtung (27), um den Behälter (33) zu greifen, aufwärts zu bewegen, zu kippen und zurückzubewegen, damit er sich entleert, einer ersten Meßeinrichtung mit einer Meßdose (24), die ein Gewichtsmessungssignal zum Messen des Bruttogewichts des Behälters einschließlich des Abfalls während der Aufwärtsbewegung und zum Messen des Taragewichts des Behälters während der Abwärtsbewegung liefert, einer zweiten Meßeinrichtung mit einem Beschleunigungssensor (25) zum Erhalten eines zweiten Meßsignals zum Messen der Vertikalbeschleunigung der Greifeinrichtung (14), wobei die erste Einrichtung zur Entnahme einer ersten Reihe von Abtastwerten aus dem ersten Meßsignal für jede der Bewegungen ausgelegt ist und die zweite Meßeinrichtung zur Entnahme einer zweiten Reihe von Abtastwerten aus dem zweiten Meßsignal für jede der Bewegungen ausgelegt ist, und einer Berechnungseinrichtung zum Berechnen einer Bruttomasse aus während der Aufwärtsbewegung entnommenen Abtastwerten und einer Taramasse aus während der Abwärtsbewegung entnommenen Abtastwerten und zum Subtrahieren der berechneten Taramasse von der berechneten Bruttomasse, um die Masse des ausgeschütteten Abfalls zu erhalten, dadurch gekennzeichnet, daß die Berechnungseinrichtung für jede der Bewegungen die aus dem ersten Meßsignal entnommenen Abtastwerte summiert, um eine erste Summe zu erhalten, die aus dem zweiten Meßsignal entnommenen Abtastwerte summiert, um eine zweite Summe zu erhalten, und für jede der Bewegungen die erste Summe durch die zweite Summe dividiert, um einen Wert für die Bruttomasse bzw. einen Wert für die Taramasse zu erhalten.
  5. Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, daß die Entnahme von Abtastwerten während der Aufwärtsbewegung solange durchgeführt wird, bis eine Maximalhöhe (C, D, E) erreicht ist, bis zu der der Behälter (33) bewegt wird, und die Entnahme von Abtastwerten während der Abwärtsbewegung bei dieser Maximalhöhe gestartet wird.
  6. Vorrichtung nach Anspruch 4 oder 5, ferner gekennzeichnet durch Erfassungseinrichtungen, die vor der Entnahme von Abtastwerten eine Eigenschaft des Behälters (33) erfassen, die den Behältertyp angibt und die Maximalhöhe (C, D, E) für die Aufwärtsbewegung vorschreibt.
  7. Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, daß der Beschleunigungssensor (25) an der Meßdose (24) angebracht ist.
EP98203576A 1997-10-29 1998-10-22 Verfahren und Vorrichtung zum gewichtsmässigen Erfassen des gekippten Müllbehälterinhalts Revoked EP0913342B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL1007388 1997-10-29
NL1007388A NL1007388C2 (nl) 1997-10-29 1997-10-29 Werkwijze en inrichting voor het bepalen van de massa van een gestorte inhoud van een afvalhouder.

Publications (2)

Publication Number Publication Date
EP0913342A1 EP0913342A1 (de) 1999-05-06
EP0913342B1 true EP0913342B1 (de) 2004-03-17

Family

ID=19765913

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98203576A Revoked EP0913342B1 (de) 1997-10-29 1998-10-22 Verfahren und Vorrichtung zum gewichtsmässigen Erfassen des gekippten Müllbehälterinhalts

Country Status (4)

Country Link
EP (1) EP0913342B1 (de)
AT (1) ATE261884T1 (de)
DE (1) DE69822398T2 (de)
NL (1) NL1007388C2 (de)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2869048B1 (fr) * 2004-04-15 2006-09-22 Sylvain Lacquement Dispositif pour stocker du linge sale et faciliter son chargement dans la machine a laver.
CN111661521A (zh) * 2020-06-11 2020-09-15 张恩然 一种基于大数据的环保智能垃圾处理系统
EP4204774B1 (de) * 2020-08-28 2025-12-03 DMD Electronics Pty Ltd Massenschätzungssysteme und -verfahren
SE547808C2 (en) * 2021-05-10 2025-12-02 Daprox Ab An in-motion weighing system, a method for weighing, and a dynamic weighing unit

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5004392A (en) * 1984-02-20 1991-04-02 Zoller-Kipper Gmbh Device for emptying containers, especially refuse bins
AT393911B (de) * 1989-06-08 1992-01-10 Mut Maschinen Umwelttechnik Muellmengenwaegevorrichtung
DE4018520C2 (de) * 1990-06-09 1994-03-31 Josef Femboeck Automatisches Erfassungssystem
DE59104714D1 (de) * 1990-12-17 1995-03-30 Wirth Gallo Messtechnik Behälter-waage.
AT399048B (de) * 1991-07-05 1995-03-27 Riha Wolfgang Dr Müllmengenwäge- und volumenerfassungssystem
NL193798C (nl) * 1992-06-12 2000-11-06 Terberg Machines Inrichting voor het ledigen en wegen van vuilniscontainers.
NL9301719A (nl) * 1993-10-06 1995-05-01 Orlaco Holding B V Inrichting voor het legen van een afvalhouder in een laadbak van een afvalverzamelvoertuig.

Also Published As

Publication number Publication date
ATE261884T1 (de) 2004-04-15
DE69822398D1 (de) 2004-04-22
EP0913342A1 (de) 1999-05-06
DE69822398T2 (de) 2005-02-24
NL1007388C2 (nl) 1999-05-04

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