EP0955252A1 - Dispositif de vidage pour poubelles avec dispositif de reconnaissance de position et dispositif de commande - Google Patents

Dispositif de vidage pour poubelles avec dispositif de reconnaissance de position et dispositif de commande Download PDF

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Publication number
EP0955252A1
EP0955252A1 EP99108748A EP99108748A EP0955252A1 EP 0955252 A1 EP0955252 A1 EP 0955252A1 EP 99108748 A EP99108748 A EP 99108748A EP 99108748 A EP99108748 A EP 99108748A EP 0955252 A1 EP0955252 A1 EP 0955252A1
Authority
EP
European Patent Office
Prior art keywords
container
optosensors
distance
receiving device
mechanical
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Withdrawn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
EP99108748A
Other languages
German (de)
English (en)
Inventor
K.H. Dr. Hammerer
Günter Dipl.-Ing. Handke
H.J. Dipl.-Ing. Bollerhey
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.)
Zoeller Kipper GmbH
Original Assignee
Zoeller Kipper 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 Zoeller Kipper GmbH filed Critical Zoeller Kipper GmbH
Publication of EP0955252A1 publication Critical patent/EP0955252A1/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Withdrawn legal-status Critical Current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
    • B65F2210/00—Equipment of refuse receptacles
    • B65F2210/138—Identification means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F2210/00—Equipment of refuse receptacles
    • B65F2210/168—Sensing means

Definitions

  • the invention relates to an emptying device for waste containers with a container receiving device and a position detection and control device.
  • Waste bins are usually brought to the emptying device by the garbage workers and returned to their place after the emptying process.
  • emptying devices have been developed that are either guided by the garbage truck driver to the garbage bins parked on the side of the road or that are able to move automatically to the garbage bins to be emptied.
  • Corresponding position detection and control devices are necessary for this, which recognize the position of the waste container to be emptied and control the emptying device or the container receiving device accordingly on the basis of the determined data.
  • a video system is known from EP 0 388 618 A2 with which the position of the refuse container to be emptied is determined and the emptying device is controlled. For this it is necessary that the waste containers are equipped with reflective marks on which the video system can orient itself. The processed marks are processed by means of complicated image evaluation processes.
  • a computer controls the control hydraulics of the recording unit based on the data received via the video camera, so that the container is automatically coupled, tilted and set down.
  • a disadvantage of this system is the additional attachment of the reflective marks, which cannot be attached to the waste container as desired, but rather require a certain accuracy in the attachment as a measuring point, which is in the millimeter range. If one of the reflective marks is damaged or lost, the waste bin may no longer be recognizable by the video system and can no longer be integrated into the desired automatic process for emptying the waste bin.
  • Another disadvantage is that, for safety reasons, an additional radar device is required which, due to a safety logic, stops the movement of the emptying device when additional movements are detected in the monitoring field.
  • EP 0 647 574 B1 also describes a video system which uses several cameras to determine the position of the waste containers to be emptied. The recorded image is displayed on a monitor located in the driver's cab, on the touch-sensitive screens of which the operating personnel can select the respective container. This system also requires markings on the rubbish bins.
  • the object of the invention is therefore an emptying device which enables automatic detection and detection of the waste container without the waste container having to be provided with markings or the like.
  • the position detection and control device on the container receiving device has at least one mechanical sensor and has at least three optosensors, of which at least one optosensor for determining the distance and at least two optosensors for the side orientation of the container receiving device are arranged and designed.
  • the individual signals of the sensors which are yes / no signals, are evaluated in a computer, the position of the refuse containers to be emptied being determined taking into account the switching position of the sensors, the function and their arrangement. On the basis of this data, the container receiving device can in turn be controlled and brought specifically to the waste container to be emptied.
  • Mechanical and optical sensors interact with each other when controlling the container receiving device.
  • the combination of mechanical and opto sensors offers the advantage that different functions can be combined.
  • At least one optical sensor performs the function of determining the distance from the container receiving device to the waste container.
  • Two optosensors are advantageously provided for this function, which are set to different detection depths, as a result of which disruptive influences due to a lack of contrast are eliminated. If two optosensors are provided for determining the distance, these are preferably arranged directly next to one another.
  • At least two optosensors perform the side alignment function, with the horizontal distance of the optosensors either is less than the width of the container to be emptied or greater than the width of the container to be emptied.
  • the computer can determine the lateral orientation and determine the optimal receiving position for detecting and receiving the container in accordance with the size and type of the container. Based on this data, the container receiving device is brought into the corresponding position.
  • Each container size can thus be assigned a specific recording position via the path between the distance detected by the opto sensors. This does not always have to be the mean of the travel path, but, depending on the container, the assigned pick-up point. This is particularly important if containers are to be emptied that are not only accommodated across the entire width of the receptacle, or if the containers are those that do not fit into the system of the other containers with their reinforcing ribs arranged under the receiving edge .
  • the optosensors are preferably arranged in a triangle, the optosensor (s) for determining the distance being arranged in a corner point which advantageously lies centrally between the two optosensors for the lateral alignment.
  • the mechanical sensor has the task of recognizing the immediate approach of the container receiving device to the refuse container and thus serves to fine-tune the distance.
  • the mechanical sensor also serves as a safety switch, namely if the sensors should fail or a container or a person who is in the work area is not recognized.
  • the actuation of the mechanical sensor by an object stops the movement of the emptying device.
  • the mechanical sensor is preferably a mechanical switch.
  • the mechanical switch can advantageously be arranged in a tooth of the container receiving device. This embodiment is preferred if the container receiving device has a receiving comb.
  • the mechanical switch preferably has a pivotably arranged lever which projects from the container receiving device.
  • the mechanical switch can have a bracket that extends over the width of the receiving device.
  • two mechanical sensors can be arranged at a distance from one another in the horizontal direction.
  • the arrangement of two mechanical sensors positioned next to one another makes it possible to recognize whether the container receiving device is aligned parallel to the container wall of the refuse container to be emptied.
  • the emptying device 3 has a boom 2 which can be telescoped and moved horizontally. At the free end of the boom 2, the container receptacle 4 is arranged, which can be moved in the vertical direction.
  • FIG. 2 the front view of the container receptacle 4 is shown enlarged.
  • An abutment plate 7 is arranged on the receiving frame in the lower region and a receiving comb 9 with a total of four receiving teeth 17 a to d is arranged in the upper region. These receiving teeth 17 a to d engage under the edge 6 of the waste container 5.
  • the receiving comb 9 can be freely pivoted about a vertical axis in the lower region of the receiving position, so that an inclined position of the container 5 can be compensated for. After receiving the container 5, which is detected with its container edge 6, the pivot bearing is locked during further lifting, so that the container assumes the desired emptying position.
  • two mechanical sensors 10 a and 10 b are integrated, which are explained in more detail in connection with FIG. 3.
  • two optosensors 11 a, 11 b are arranged, which are responsible for the side alignment of the container receptacle 4.
  • two opto sensors 12 a and 12 b are arranged, which are provided for determining the distance.
  • the optosensors 11 a, 11 b and 12 a, 12 b essentially form a triangle, the two optosensors 12 a, 12 b being arranged approximately centrally between the optosensors 11 a and 11 b.
  • the mechanical sensor 10 a, b is shown enlarged in FIG. 3. It is a mechanical switch, one against the Receiving comb 9 has protruding lever 13 which is pivotally mounted about a horizontal axis 18. A spring 14 is connected to the lever 13 and holds the lever 13 in the pivoted-out state. Furthermore, a switching flag 15 is fastened to the lever 13 and cooperates with the proximity switch 16 arranged on the rear of the receiving comb 9. When the garbage container hits the lever 13, this is pivoted in and the switching flag 15 is moved in front of the proximity switch 16, which emits a corresponding signal to the control device.
  • the side loader is operated in a known manner from the cab of the refuse collection vehicle.
  • the emptying process is triggered via joystick, button or screen processing, e.g. a control by means of a touch-sensitive screen (touch screen).
  • touch screen touch screen
  • the necessary work and observation equipment is arranged in the cab. This also applies to screens for monitoring the work area and similar facilities.
  • the side loader is extended manually until the optosensors 12 a, b arranged on the container receiving device 4 recognize the container.
  • the two opto sensors 12 a and 12 b are set to different detection distances, which has the advantage that the opto sensor 12 a interrupts the manual control after the detection of the container or emits a signal that the detection has taken place.
  • the operator then gives the start signal to the electronic control.
  • the rest of the process is controlled automatically.
  • the optosensor 12 b detects the container 5
  • the speed of the approach movement is slowed down until one of the mechanical sensors 10 a, 10 b reaches the container 5 and, via the switching flag 15 shown in FIG. 3, in cooperation with the proximity switch 16 Forward movement stops.
  • This switching operation simultaneously gives a command to the electronic main control to move the boom 2 back a little in order to release the mechanical switch 10 a and / or 10 b again. It is thereby achieved that the receiving comb 9 does not rub against the container 5 during the subsequent lateral movement of the container receiving device 4.
  • the two switches 10 a and 10 b are electrically connected in series, so that a corresponding signal is emitted when one of the two switches is actuated.
  • the two optosensors 11 a and 11 b With respect to the two optosensors 11 a and 11 b, at least one of the two sensors is switched in this state.
  • the optosensor 12 a has been deactivated since the sensor 12 b has been monitoring.
  • the location of the container 5 is now determined by sideways movement. If e.g. the optosensor 11 a would not be damped, the boom 2 of the container receiving device 4 is moved in the direction of the optosensor 11 b until the latter is no longer damped.
  • the electronic control system determines the travel path x via the radius and the angle of the distance traveled and sets the container receiving device 4 to a preprogrammed position so that the container 5 can be taken up automatically for emptying.
  • the distance between the two optosensors 11 a and 11 b from one another is smaller in the example shown than the smallest container that can be emptied.
  • the algorithm for calculating the exposure position is then aligned. With the arrangement of the optosensors 11 a and 11 b, the smallest container size between the two sensors is determined at the same time.
  • Another arrangement can provide for the distance between the optosensors 11a and 11b to be larger than the largest emptied container size.
  • the algorithm for setting the exposure position must be adapted to this.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Refuse-Collection Vehicles (AREA)
EP99108748A 1998-05-06 1999-05-03 Dispositif de vidage pour poubelles avec dispositif de reconnaissance de position et dispositif de commande Withdrawn EP0955252A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19820143A DE19820143C1 (de) 1998-05-06 1998-05-06 Entleervorrichtung für Müllbehälter mit einer Lageerkennungs- und Steuereinrichtung
DE19820143 1998-05-06

Publications (1)

Publication Number Publication Date
EP0955252A1 true EP0955252A1 (fr) 1999-11-10

Family

ID=7866799

Family Applications (1)

Application Number Title Priority Date Filing Date
EP99108748A Withdrawn EP0955252A1 (fr) 1998-05-06 1999-05-03 Dispositif de vidage pour poubelles avec dispositif de reconnaissance de position et dispositif de commande

Country Status (2)

Country Link
EP (1) EP0955252A1 (fr)
DE (1) DE19820143C1 (fr)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0963923A3 (fr) * 1998-05-08 2000-05-10 Faun Umwelttechnik GmbH & Co. Véhicule de ramassage d'ordures avec dispositif de levage-basculage latéral
CN106219110A (zh) * 2016-08-30 2016-12-14 福建群峰机械有限公司 防抖式挂桶板结构及自装卸式垃圾车
EP3356260A4 (fr) * 2015-09-29 2018-10-31 Superior Pak Holdings Pty Ltd Système de collecte automatique de poubelle à chargement latéral
CN109335417A (zh) * 2018-11-30 2019-02-15 长沙福田汽车科技有限公司 垃圾运输车的翻桶结构以及垃圾运输车
EP3248910B1 (fr) * 2016-05-27 2020-01-01 FAUN Umwelttechnik GmbH & Co. KG Dispositif capteur pour détecter des conteneurs à déchets couplés sur un dispositif de décharge d'un véhicule de collecte de déchets
CN113401543A (zh) * 2021-06-17 2021-09-17 广东机电职业技术学院 一种基于无人驾驶小车的垃圾分类装置和分类方法
WO2021238017A1 (fr) * 2020-05-25 2021-12-02 长沙中联重科环境产业有限公司 Mécanisme d'alimentation automatique intelligent et procédé de commande correspondant
US11208262B2 (en) 2019-04-23 2021-12-28 The Heil Co. Refuse container engagement
US11319147B2 (en) 2019-02-04 2022-05-03 The Heil Co. Semi-autonomous refuse collection
US11453550B2 (en) 2019-04-23 2022-09-27 The Heil Co. Refuse collection vehicle controls
US11603265B2 (en) * 2019-04-23 2023-03-14 The Heil Co. Refuse collection vehicle positioning
EP4282785A1 (fr) * 2022-05-24 2023-11-29 Zöller-Kipper GmbH Dispositif de commutation de sécurité

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
EP0388618A2 (fr) 1989-03-23 1990-09-26 EDELHOFF POLYTECHNIK GMBH & CO. Système de détermination de la position dans l'espace d'un objet à l'aide d'un capteur optique à vidéo
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
EP0478049A1 (fr) * 1990-09-17 1992-04-01 Geesink B.V. Dispositif pour vider des conteneurs, notamment des conteneurs à ordures, pourvus d'un mécanism de sécurité
DE4343811C1 (de) * 1993-12-22 1995-03-16 Sutco Maschinenbau Gmbh Verfahren zum vollautomatischen Entleeren von Müllgroßbehältern
EP0728683A1 (fr) * 1995-02-27 1996-08-28 Max Aicher GmbH Entsorgungstechnik Dispositif pour basculer des différents récipients à ordures d'une position de préhension en une position de décharge
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

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9216131U1 (de) * 1992-11-30 1993-06-03 Skrypzak, Roland, 6110 Dieburg Anordnung zum Identifizieren von zu entleerenden Behältnissen wie Müllgefäßen

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
EP0388618A2 (fr) 1989-03-23 1990-09-26 EDELHOFF POLYTECHNIK GMBH & CO. Système de détermination de la position dans l'espace d'un objet à l'aide d'un capteur optique à vidéo
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
EP0478049A1 (fr) * 1990-09-17 1992-04-01 Geesink B.V. Dispositif pour vider des conteneurs, notamment des conteneurs à ordures, pourvus d'un mécanism de sécurité
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
DE4343811C1 (de) * 1993-12-22 1995-03-16 Sutco Maschinenbau Gmbh Verfahren zum vollautomatischen Entleeren von Müllgroßbehältern
EP0728683A1 (fr) * 1995-02-27 1996-08-28 Max Aicher GmbH Entsorgungstechnik Dispositif pour basculer des différents récipients à ordures d'une position de préhension en une position de décharge
DE19510359A1 (de) * 1995-03-22 1996-09-26 Otto Geb Kg Vorrichtung zum automatischen Positionieren eines Schwenkarmes

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0963923A3 (fr) * 1998-05-08 2000-05-10 Faun Umwelttechnik GmbH & Co. Véhicule de ramassage d'ordures avec dispositif de levage-basculage latéral
EP3356260A4 (fr) * 2015-09-29 2018-10-31 Superior Pak Holdings Pty Ltd Système de collecte automatique de poubelle à chargement latéral
EP3248910B1 (fr) * 2016-05-27 2020-01-01 FAUN Umwelttechnik GmbH & Co. KG Dispositif capteur pour détecter des conteneurs à déchets couplés sur un dispositif de décharge d'un véhicule de collecte de déchets
CN106219110A (zh) * 2016-08-30 2016-12-14 福建群峰机械有限公司 防抖式挂桶板结构及自装卸式垃圾车
CN109335417A (zh) * 2018-11-30 2019-02-15 长沙福田汽车科技有限公司 垃圾运输车的翻桶结构以及垃圾运输车
US11319147B2 (en) 2019-02-04 2022-05-03 The Heil Co. Semi-autonomous refuse collection
US12240692B2 (en) 2019-02-04 2025-03-04 The Heil Co. Semi-autonomous refuse collection
US11608226B2 (en) 2019-02-04 2023-03-21 The Heil Co. Semi-autonomous refuse collection
US11858735B2 (en) 2019-04-23 2024-01-02 The Heil Co. Refuse collection vehicle controls
US11453550B2 (en) 2019-04-23 2022-09-27 The Heil Co. Refuse collection vehicle controls
US11603265B2 (en) * 2019-04-23 2023-03-14 The Heil Co. Refuse collection vehicle positioning
US11208262B2 (en) 2019-04-23 2021-12-28 The Heil Co. Refuse container engagement
US11807450B2 (en) 2019-04-23 2023-11-07 The Heil Co. Refuse container engagement
US12291395B2 (en) 2019-04-23 2025-05-06 The Heil Co. Refuse collection vehicle positioning
US12338068B2 (en) 2019-04-23 2025-06-24 The Heil Co. Refuse container engagement
US12391471B2 (en) 2019-04-23 2025-08-19 The Heil Co. Refuse collection vehicle controls
WO2021238017A1 (fr) * 2020-05-25 2021-12-02 长沙中联重科环境产业有限公司 Mécanisme d'alimentation automatique intelligent et procédé de commande correspondant
CN113401543B (zh) * 2021-06-17 2022-07-08 广东机电职业技术学院 一种基于无人驾驶小车的垃圾分类装置和分类方法
CN113401543A (zh) * 2021-06-17 2021-09-17 广东机电职业技术学院 一种基于无人驾驶小车的垃圾分类装置和分类方法
EP4282785A1 (fr) * 2022-05-24 2023-11-29 Zöller-Kipper GmbH Dispositif de commutation de sécurité

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