EP0955251A1 - Véhicule de ramassage pour déchets et matières de valeur - Google Patents

Véhicule de ramassage pour déchets et matières de valeur Download PDF

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Publication number
EP0955251A1
EP0955251A1 EP99106742A EP99106742A EP0955251A1 EP 0955251 A1 EP0955251 A1 EP 0955251A1 EP 99106742 A EP99106742 A EP 99106742A EP 99106742 A EP99106742 A EP 99106742A EP 0955251 A1 EP0955251 A1 EP 0955251A1
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EP
European Patent Office
Prior art keywords
container
collecting vehicle
distance
distance profile
measuring device
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.)
Withdrawn
Application number
EP99106742A
Other languages
German (de)
English (en)
Inventor
Claus Bender
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.)
OTTO Entsorgungssysteme GmbH
Original Assignee
OTTO Entsorgungssysteme GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by OTTO Entsorgungssysteme GmbH filed Critical OTTO Entsorgungssysteme GmbH
Publication of EP0955251A1 publication Critical patent/EP0955251A1/fr
Withdrawn legal-status Critical Current

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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
    • 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
    • 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

Definitions

  • the invention relates to a collecting vehicle for collecting goods stored in containers, in particular waste and valuable materials, with a detection means for recognizing and spatially assigning at least one container provided and with an emptying means for emptying the container into a collecting container of the collecting vehicle, the detection means being a measuring device and has an evaluation device.
  • the conventional procedure for collecting waste and valuable materials with a collecting vehicle is that an operating team is given to the collecting vehicle, which drives the waste containers to the collecting vehicle, hangs them in a lifting device there and empties the containers into the container of the collecting vehicle with the aid of this lifting device.
  • This method is extremely labor-intensive, so that solutions have been sought for some time to reduce the workload.
  • collection vehicles have become known which have a gripper arm as an emptying means. Containers parked on the side of the road can be gripped with this gripper arm and emptied into the collecting container over a bed of the vehicle.
  • the gripper arm is controlled by the driver of the vehicle.
  • appropriate controls are provided in the cab, so that the The driver does not have to leave his driver's seat to pick up the goods from the containers.
  • the collecting vehicle is designed as a right-hand drive vehicle so that the driver can see the sidewalk next to the road from his seat.
  • a detection means for recognizing and spatially allocating the container provided on the collecting vehicle.
  • the detection assumes that the container is identified as such between other objects in the vicinity of the collecting vehicle.
  • the detection means must be able to distinguish between the container and fences, walls, posts or the like. If the container is recognized as such, its spatial assignment, that is to say the determination of its position in relation to the collecting vehicle, is required. Only when this position has been determined, the gripper arm can be controlled automatically or semi-automatically to the container.
  • Previous detection means are based consistently on the principle that marks are arranged on the container, which are identified by the detection means. So it is not the containers themselves that are recognized, but the marks on them. Such marks can be, for example, retroreflective marks that are illuminated with a light source and recognized by a video camera. Such arrangements are known from DE 39 09 762 A1 and DE 694 04 411 T2, the contents of which are hereby incorporated by reference in their entirety.
  • a disadvantage of the arrangement mentioned is that it is expensive because of the cameras used and, despite the retroreflective properties of the brands attached to the waste containers, is susceptible to contamination. This disadvantage has a serious impact, particularly in rough use when emptying waste containers. Furthermore, the sensitive brands are constantly exposed to the risk of being damaged and rendered unusable by improper contact with the gripper arm. After all, the brands have to be actively illuminated. The light source required for this continues to make the arrangement more expensive.
  • the object of the present invention is to provide a collecting vehicle with a detection means that reliably and at least performs the detection and spatial assignment over distances that correspond to the range of the gripping arm. Furthermore, the arrangement as a whole should be able to be carried out more cost-effectively than the hitherto known ones, and it should also be possible to dispense with an expensive retooling of the containers by applying marks for recognition.
  • This object is achieved in that a distance profile of the objects located in a defined surrounding area of the collecting vehicle can be created by the measuring device and that this distance profile can be evaluated by the evaluation device for the detection and spatial assignment of the container, so that the emptying means to the thereby Position certain container is approachable.
  • the distance profile of the objects located in the surrounding area can be created, for example, by measuring numerous, adjacent points. The gaps between these points can be interpolated if necessary.
  • the distance profile is thus generated by a spatially resolved distance measurement.
  • one could also speak of a distance contour which is an image of the free space between the collecting vehicle and the object closest to it in the respective measuring direction.
  • the defined surrounding area is, for example, the entire area to the right of the collecting vehicle.
  • the recognition process begins by comparison with the known profile patterns of different waste containers.
  • the stored distance profile is analyzed by the evaluation unit, which can be implemented in the form of an electronic circuit.
  • the evaluation unit can be implemented in the form of an electronic circuit.
  • it is compared whether certain sections in the recorded distance profile match a specific distance profile, as a single container could produce.
  • a container can take on a wide variety of distances and angles with respect to the collecting vehicle. Its specific distance profile will change accordingly.
  • the position-resolved distance data of the section recognized as a container naturally also contains its position.
  • its spatial allocation to the collecting vehicle is also created.
  • a major advantage and feature of the aforementioned collection vehicle and the corresponding method is that no additional marks need to be arranged on the containers for recognition.
  • the container is emptied in a manner known per se after the container has been identified and spatially assigned.
  • the position data of the container are transferred to the control of the gripper arm, which moves to the container, grips it with its gripping means, lifts it and empties it into the bulk of the collecting vehicle, from where the goods in the container are fed to the collecting container.
  • the distance profile can be recorded in a variety of ways. It is important that at least one horizontal angular range is covered in order to really get a profile. Of course, a vertical angular range can also be detected.
  • a sensor in the front area of the vehicle, which, as it drives past, records the distance of the objects on the side of the road perpendicular to the direction of travel.
  • the sensor itself covers an angular range. Then the distance profile can also be recorded, so to speak, from a fixed point when the vehicle is at a standstill, as a result of which the spatial resolution is generally considerably more precise.
  • the measuring device preferably records the distance profile in at least one plane running approximately parallel to the floor.
  • the fact that the measuring plane and the bottom are approximately parallel prevents the measuring range from being limited at an early stage because the measuring plane intersects with the bottom or runs over the upper edge of the container.
  • the maximum height of the horizontal measuring plane above the floor is also determined by the top of the container. At the bottom, it makes sense to keep a certain distance from the floor to prevent the measuring field from being shaded.
  • these can alternatively or additionally also be arranged offset on the vehicle in the direction of travel of the collecting vehicle. For example, the large-scale shading of a single sensor can be compensated for if the driver places it directly in front of a lamppost while holding the collecting vehicle.
  • the measuring device preferably has a laser scanner, with the aid of which the distance profile is created.
  • it will be a scanning laser scanner that scans its surroundings in a two-dimensional manner, ie in one plane. No special remission properties of the measurement object are required, so that all objects in the environment are reliably detected.
  • the laser scanner can make the measurement data available in real time, so that its measurement results can also be used for further computing or control tasks.
  • the laser scanner measures according to the principle of phase measurement.
  • the transmission light of the laser is periodically modulated.
  • the received light is compared in the receiver with the transmitted light.
  • the transit time of the transmitted light to the object and back results in a phase shift between the transmitted and received signal.
  • This phase shift is a direct measure of the distance of the object.
  • this problem can be solved in that the laser scanner works on the principle of pulse transit time measurement.
  • a pulsed laser beam is emitted. If the laser pulse hits an object, it is reflected and registered in the scanner's receiver.
  • the time from sending to receiving the pulse is directly proportional to the distance between the scanner and the object (light travel time).
  • the pulse transit time measurement delivers precise and reproducible results regardless of the surface of the respective object and the lighting conditions in the vicinity of the collecting vehicle.
  • the pulsed laser beam can be deflected by the latter and scan the surroundings in a fan-shaped manner in accordance with the rotation of the mirror.
  • the contour of the objects in the measuring field is then calculated from the sequence of the received pulses.
  • Time filtering can be used to eliminate interference such as rain, snow or fog. For this purpose, several measurements are carried out in succession and compared with one another, so that interference can be filtered out.
  • a dust protection tube is recommended to avoid dust accumulation and precipitation on the windscreen. Overheating of the sensor due to strong solar radiation can be prevented, for example, by a protective and / or cooling plate.
  • this advantageously has a speed sensor and a connection between the speed sensor and the evaluation device, via which the speed can be transmitted to the evaluation device.
  • the distance measurement must take place and time-resolved.
  • a distance profile can be determined as it appears to an observer who is at rest in relation to the surroundings. With such a spacing profile, the detection and spatial assignment of a container can then take place, as described above.
  • the speed sensor must be highly accurate for this task. It would be conceivable for. B. a correlation optical sensor. Alternatively, if the accuracy is sufficient, a speedometer signal that is generally present in the collecting vehicle can be used. In the simplest case, the connection between the speed sensor and the evaluation device can be in the form of a cable.
  • the evaluation device is to be implemented in the form of an electronic circuit which can be carried out by a person skilled in the art in such a way that it fulfills the above-mentioned feature of evaluating the distance profile for the detection and spatial assignment of the container. It is of course within the scope of the invention to also use freely programmable electronic control elements.
  • the data determined are made available for controlling the emptying means. This control can take place fully automatically or with the help of the driver.
  • the emptying means for emptying the container is preferably designed in the form of a gripping arm, on which at least one gripping means is arranged, which corresponds to corresponding receptacles of the container.
  • This gripping means can be a comb, for example, the receptacles of the container being in the form of recesses into which the comb engages.
  • the device according to the invention not only allows the distance of the container from the collecting vehicle to be determined, but also its angle relative to the collecting vehicle, it is particularly useful in the context of the invention if the angle of attack of the gripping means relative to the receptacles of the container by rotating the gripping means on Gripper arm is adjustable. In this way, inclined containers can also be gripped, whereby the control can also be carried out fully or semi-automatically.
  • the gripper arm is steered perpendicularly from the collecting vehicle to the container.
  • the gripping means can be moved laterally on the gripping arm, in particular parallel to the receptacles of the container.
  • the measuring device can advantageously also perform a third function.
  • This function consists in that a protective field monitoring takes place at least while the emptying means is moving. In this way it can be prevented that children playing, for example, approach the gripper arm unnoticed and are endangered by it.
  • protective field monitoring within the scope of the invention can also be carried out by the measuring and evaluation device which is present anyway.
  • the distance profile recorded first is fed into the evaluation device and taught in by the latter. Then this is dynamically compared with repeatedly created distance profiles and checked for changes. As soon as an unwanted change in the distance profile takes place, for example by If a person enters the protective field and injures it, the evaluation device sends an alarm signal which, if necessary, stops the drive for the emptying means.
  • the invention also relates to a method for detecting at least one container provided for emptying into a collecting vehicle according to claims 12-19.
  • the explanation of these method claims results directly from the above explanation of the device claims.
  • FIG. 1 shows a collecting vehicle 1 with a driver's cab 2 at the front in the direction of travel, a bed 3 arranged behind it, and a collecting container 4 adjoining behind the filling 3.
  • the collecting container 4 can be lifted off the collecting vehicle 1 if necessary and can be exchanged for another collecting container.
  • driver's cab 2 In driver's cab 2, the driver sits on the right-hand side in the direction of travel in order to get a good insight into the right-hand side in the direction of travel to have the area of the collecting vehicle 1 in which containers provided for emptying are to be expected.
  • a gripping arm 5 with joints 6 and a gripping means 7 is arranged on the side of the bed 3 of the collecting vehicle 1.
  • the gripping arm 5 is extended in the direction of a container 8 provided, and prongs of the gripping means 7 designed as a comb are threaded into receptacles 9 provided therefor in the form of cutouts on the container 8.
  • the container 8 is lifted from the gripper arm 5, driven to the collecting vehicle 1 and tipped over the opening of the bed 3. After emptying, the driver uses the gripper arm 5 to return the container 8 to the roadside.
  • this container 8 is recognized as such, that is to say it is distinguished from other surrounding objects, for example in the form of trees 10 or a wall 11. Furthermore, the position of the container 8 relative to the collecting vehicle 1 must be determined.
  • a measuring device 12 is arranged on the collecting vehicle 1, by means of which a distance profile of the objects 8, 10, 11 located in a defined surrounding area 13 of the collecting vehicle 1 can be created.
  • This distance profile can be evaluated for the detection and spatial assignment of the container 8 by an evaluation device, not shown, so that the gripping arm 5 can be moved as an emptying means of the collecting vehicle 1 to the container 8 determined thereby in its position.
  • the measuring device 12 has a sensor 14 for measuring the distance over a defined, at least horizontal Angular range.
  • This angular range preferably encompasses more than 90 °, in the illustration example approximately 130 ° and can be expanded to slightly more than 100 ° if necessary. The latter value is specified by the collecting vehicle 1, which limits the angular range.
  • the distance profile is recorded in a plane running approximately parallel to the floor.
  • the surrounding area 13 is scanned point by point by measuring beams 15.
  • the measurement beams 15 are reflected by the objects 8, 10, 11, the time delay of the portion of the measurement beam 15 scattered back into the sensor 14 being measured and the distance from the respective reflection point of the measurement beam 15 from the sensor 14 being calculated therefrom.
  • measuring beams 15 are not reflected by an object within the surrounding area 13, but run out of the surrounding area 13.
  • a predetermined maximum distance can then be set in the distance profile.
  • the sensor 14 is mounted on the right side of the collecting vehicle 1 in the direction of travel behind the bed 3. It is at a distance from the gripping arm 5 so that the measuring area is not shaded too much by the gripping arm 5.
  • the height of the sensor 14 above the ground is preferably about 1/4 to 4/5 of the height of the container 8.
  • the measuring device 12 also contains a further sensor 14 ', which is offset horizontally and vertically from the sensor 14 on the collecting vehicle 1 is. It can be used to increase the measuring accuracy or if the first sensor 14 is shaded too much by objects standing directly in front of it.
  • the sensor 14 of the measuring device 12 is designed as a laser scanner.
  • the laser scanner contains a transmission laser 16, which emits measuring beams 15 at pulsed intervals.
  • the measuring beam 15 is reflected by a semi-transparent mirror 17 on a rotating mirror 18.
  • the rotating mirror 18 rotates about a vertical axis.
  • the measuring beam 15 hits the rotating mirror 18 exactly in this axis. As a result, it is reflected at different positions of the rotating mirror 18 at an exactly constant height above the ground in the surrounding area 13.
  • This speed sensor 22 is a speed sensor arranged on a wheel 21 of the collecting vehicle 1.
  • the gripping means 7 of the gripping arm 5 is rotatably mounted about a vertical axis 23 at the free end of the gripping arm 5.
  • the mounting of the gripping means 7 on the gripping arm 5 is also designed such that it can be moved laterally relative to the gripping arm 5. In the position of the gripping means 7 shown in FIG. 1, this can to a certain extent be moved independently of the gripping arm 5 in or against the direction of travel of the collecting vehicle 1. It is moved parallel to the receptacles 9 of the container 8 closest to it.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Refuse-Collection Vehicles (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
EP99106742A 1998-05-05 1999-04-03 Véhicule de ramassage pour déchets et matières de valeur Withdrawn EP0955251A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19819646 1998-05-05
DE19819646A DE19819646A1 (de) 1998-05-05 1998-05-05 Sammelfahrzeug für Abfälle und Wertstoffe

Publications (1)

Publication Number Publication Date
EP0955251A1 true EP0955251A1 (fr) 1999-11-10

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EP99106742A Withdrawn EP0955251A1 (fr) 1998-05-05 1999-04-03 Véhicule de ramassage pour déchets et matières de valeur

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EP (1) EP0955251A1 (fr)
DE (1) DE19819646A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1306321A1 (fr) * 2001-10-29 2003-05-02 Terberg Machines B.V. Système pour la collecte des ordures
NL1027866C2 (nl) * 2004-12-23 2006-06-26 Geesink Bv Afvalinzamelvoertuig.
WO2011146964A1 (fr) * 2010-05-24 2011-12-01 F.B. Technologies Pty Ltd Système de manipulation d'objets

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2531744A1 (de) * 1975-07-16 1977-02-03 Fraunhofer Ges Forschung Sensoren zur erfassung bekannter dreidimensionaler koerper in beliebiger lage
US4575304A (en) * 1982-04-07 1986-03-11 Hitachi, Ltd. Robot system for recognizing three dimensional shapes
FR2606871A1 (fr) * 1986-11-13 1988-05-20 Imajesa Dispositif de reconnaissance d'objets disposes sur un plan, et systeme de depalettisation mettant en oeuvre un tel dispositif
DE3703505A1 (de) * 1987-02-05 1988-08-18 Automation W & R Gmbh Vorrichtung und verfahren zum erzeugen einer profilbilddarstellung einer werkstueckoberflaeche
US4868796A (en) * 1985-08-13 1989-09-19 Edelhoff M.S.T.S. System for detecting the position of an object relative to a manipulator
EP0388339A2 (fr) * 1989-02-24 1990-09-19 Syspro Dispositif de reconnaissance de position d'objets
DE3909762A1 (de) 1989-03-23 1990-09-27 Edelhoff Polytechnik System zur bestimmung der lage eines objekts im raum mit hilfe eines videooptischen sensors
EP0463386A1 (fr) * 1990-06-26 1992-01-02 Antonicelli S.P.A. Dispositif de basculement de récipients destiné à accrocher automatiquement des poubelles équipées d'un rebord et à les renverser dans la benne d'un véhicule à moteur
DE4100222A1 (de) 1991-01-07 1992-07-09 Ernst Gleichauf Vorrichtung zur beruehrungslosen identifikation von gegenstaenden
DE19510359A1 (de) 1995-03-22 1996-09-26 Otto Geb Kg Vorrichtung zum automatischen Positionieren eines Schwenkarmes
EP0647574B1 (fr) * 1993-10-06 1997-07-23 Orlaco Holding B.V. Dispositif pour vider des poubelles dans la benne d'un véhicule de ramassage

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2531744A1 (de) * 1975-07-16 1977-02-03 Fraunhofer Ges Forschung Sensoren zur erfassung bekannter dreidimensionaler koerper in beliebiger lage
US4575304A (en) * 1982-04-07 1986-03-11 Hitachi, Ltd. Robot system for recognizing three dimensional shapes
US4868796A (en) * 1985-08-13 1989-09-19 Edelhoff M.S.T.S. System for detecting the position of an object relative to a manipulator
FR2606871A1 (fr) * 1986-11-13 1988-05-20 Imajesa Dispositif de reconnaissance d'objets disposes sur un plan, et systeme de depalettisation mettant en oeuvre un tel dispositif
DE3703505A1 (de) * 1987-02-05 1988-08-18 Automation W & R Gmbh Vorrichtung und verfahren zum erzeugen einer profilbilddarstellung einer werkstueckoberflaeche
EP0388339A2 (fr) * 1989-02-24 1990-09-19 Syspro Dispositif de reconnaissance de position d'objets
DE3909762A1 (de) 1989-03-23 1990-09-27 Edelhoff Polytechnik System zur bestimmung der lage eines objekts im raum mit hilfe eines videooptischen sensors
EP0463386A1 (fr) * 1990-06-26 1992-01-02 Antonicelli S.P.A. Dispositif de basculement de récipients destiné à accrocher automatiquement des poubelles équipées d'un rebord et à les renverser dans la benne d'un véhicule à moteur
DE4100222A1 (de) 1991-01-07 1992-07-09 Ernst Gleichauf Vorrichtung zur beruehrungslosen identifikation von gegenstaenden
EP0647574B1 (fr) * 1993-10-06 1997-07-23 Orlaco Holding B.V. Dispositif pour vider des poubelles dans la benne d'un véhicule de ramassage
DE69404411T2 (de) 1993-10-06 1997-12-11 Orlaco Holding B V Vorrichtung zum Entleeren von Müllbehältern in den Sammelbehälter eines Sammelfahrzeugs
DE19510359A1 (de) 1995-03-22 1996-09-26 Otto Geb Kg Vorrichtung zum automatischen Positionieren eines Schwenkarmes

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1306321A1 (fr) * 2001-10-29 2003-05-02 Terberg Machines B.V. Système pour la collecte des ordures
NL1027866C2 (nl) * 2004-12-23 2006-06-26 Geesink Bv Afvalinzamelvoertuig.
EP1674411A1 (fr) * 2004-12-23 2006-06-28 Geesink B.V. Véhicule de ramassage d'ordures
WO2011146964A1 (fr) * 2010-05-24 2011-12-01 F.B. Technologies Pty Ltd Système de manipulation d'objets
CN103038147A (zh) * 2010-05-24 2013-04-10 F.B.科技有限公司 用于操纵物体的系统
JP2013530034A (ja) * 2010-05-24 2013-07-25 エフ．ビー．テクノロジーズ ピーティーワイ リミテッド 物体を操作するためのシステム

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