ES2399498A2 - Method for handling waste e.g. paper waste, collecting container and for emptying container, involves lowering empty container for handling empty container in working position in automatic manner by computerized system - Google Patents

Abstract

The method involves raising vertically a securing unit jointly to an empty container, and rotating an articulated arm (4) for bringing the empty container at top of a waste storing body (3). The container of the empty container is emptied. The articulated arm is rotated for bring the empty container at the top of working position. The empty container is lowered for handling the empty container in the working position in an automatic manner by a computerized system. An independent claim is also included for an apparatus for handling a waste container and for emptying the container.

Description

Procedure and apparatus for moving waste containers and emptying their contents

The present invention relates to a device and a method for moving containers for waste and for emptying its contents.

Generally, the containers for the collection of waste, and in general for the differentiated collection of waste, such as glass, paper, plastic, etc., are made with their cargo openings substantially arranged in their upper part, while their emptying is performed through openings located in its lower part.

Normally, said containers are shaped like a bell or with a sectional shape, substantially square and / or rectangular. The movement and emptying of the contents of said containers is carried out by means of motor vehicles, such as a truck, comprising a waste storage body, suitable for containing the waste, and a rotating articulated mechanical arm with multiple axes that is usually located between the storage body and the car cabin.

The articulated arm with multiple axes is intended to hook the waste container and transfer it to above the storage body to discharge the waste inside the latter. In general, to carry out the aforementioned operations, the operator must leave the driving cabin, after having placed the motor vehicle in the vicinity of the container, and manually actuate the articulated arm with multiple axes. To this end, in fact, mechanical control means have been arranged for the articulated arm with multiple axes outside the motor vehicle. The operator must therefore carry the articulated arm with multiple axes above the container, control the correct positioning of the articulated arm with multiple axes with respect to the upper part of the container and proceed to its hitch. To this end, the articulated arm with multiple axes has at its end a hooking device. After having hooked the container with the articulated arm with multiple axes and transported it up above the storage body of the motor vehicle, the operator can empty the contents of the container itself inside the storage body. Once the contents have been emptied, the operator must actuate the articulated arm with multiple axes again to return the container to its original position.

The applicant has observed that the aforementioned operations require a lot of time and are related to the skill and experience of the operator.

The applicant has also observed that these operations are particularly critical in the case of underground containers.

In the latter case, it is important, in fact, that the lifting and subsequent lowering of the container with respect to its underground accommodation seat are carried out perfectly vertically in order to avoid damage to the container or its accommodation seat.

The applicant has discovered that the problem that has been exposed in the foregoing can be overcome with a procedure and an apparatus that automates some of the operations to move containers for waste and to empty its contents.

Therefore, in its first aspect, the invention relates to a method for moving waste containers and for emptying their contents by means of a device comprising:

a motor vehicle comprising a waste storage body;

at least one articulated arm, carried by said motor vehicle;

at least one coupling element, disposed at one end of said articulated arm;

a computerized system to move said articulated arm;

said procedure comprising the following steps:

a) place the motor vehicle in the vicinity of the container to be emptied;

b) move the articulated arm to approximate said coupling element at a predetermined distance D1 with respect to the container to be emptied, located in a working position;

c) placing said coupling element on top of the container, aligned with its vertical axis;

d) lowering said hooking element and hooking said container with said hooking element by means of said computerized system;

e) vertically lifting said coupling element together with said container, keeping said container substantially vertical; f) rotate the articulated arm to carry the container to be emptied above the waste storage body; g) emptying the contents of said container into the waste storage body; h) rotate the articulated arm again to bring the empty container over the working position; i) lower the empty container to return it to its working position; characterized in that:

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step b) of moving the articulated arm to approximate said coupling element at a predetermined distance D1 with respect to the container to be emptied, is controlled and carried out by the operator; lie that,

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steps e) to i) are carried out automatically by the computerized system. The present invention, in the aforementioned aspect, may have at least one of the preferred features described below. Preferably, step c) may comprise the following sub-stages:

c1) recognize, by means of an optical system, the distance between said position of said coupling element to the end of step b) and the vertical axis of said container; c2) calculate the movements that the articulated arm must carry out to place said hooking element

above the container, aligned with its vertical axis;

c3) automatically activate, by means of the computerized system, the movements calculated in the sub-stage c2). Conveniently, step c) further comprises the following sub-stages: c4) memorize the movements made in said sub-stage c3).

Advantageously, step e) of vertically lifting said hooking element together with the container, keeping the container substantially vertical, is carried out until the container has been raised to a predetermined height H1, greater than the height of the upper edge of the body of storage with respect to the ground.

Preferably, step b) comprises a sub-stage: b1) memorize the movements made by the articulated arm in said stage. Conveniently, step f) comprises the following sub-stages:

f1) recognition, by the computerized system, that said container is located on the body of waste storage in an ideal position for emptying; f2) actuation, by the computerized system, of said at least one emptying hatch.

Conveniently, the process according to the present invention comprises, prior to step b), a step of: l) removing the coupling element from a predefined rest position on said motor vehicle. Preferably, stages h) and l) are automatically carried out by said computerized system causing the articulated arm to return to the movements memorized in stages b), c).

Conveniently, steps h) and l) are automatically carried out by said computerized system causing the articulated arm to retrace the movements memorized in stages b), c) modified with a correction coefficient to avoid interference.

Advantageously, step b) of moving the articulated arm to bring said hooking element closer to a predetermined distance D1 with respect to the container to be emptied, is controlled and carried out by the operator, by means of a servo-assisted command.

According to another aspect, the present invention relates to an apparatus for moving containers for waste and for emptying its contents, comprising: a motor vehicle comprising at least one waste storage body; at least one articulated arm carried by the motor vehicle; at least one coupling element, disposed at one end of said articulated arm; said articulated arm comprising:

first means for supporting the coupling element; a few second means for the vertical translation of said at least said first means, defining an axis of longitudinal extension (X-X);

third means for hosting said second means;

fourth means for producing the rotation of said third means in a vertical plane;

said second means are displaceably coupled to said third means, so that said

second means are in a position to adopt with respect to said third means, at least:

a first position in which a substantial part of said second means is housed, at least partially, inside said means, and

a second position in which a substantial part of said second means stands out with respect to said third means;

said first means are rotatably mounted with respect to an axis orthogonal to the extension axis

longitudinal (X-X) of said second means, characterized in that it comprises: at least one computerized system for moving said articulated arm. Conveniently, the apparatus comprises an optical system to detect the positioning of the

coupling and container element, and transmitting to the computerized system the appropriate information to calculate the movements that the articulated arm must perform to place said coupling element on the container, aligned with its vertical axis.

Preferably, the optical system comprises at least a first chamber for detecting the positioning of the coupling element and the container. Advantageously, the optical system comprises at least a second camera and a screen to monitor the path of the container during the movement and emptying operations of the container itself. Conveniently, the apparatus comprises a container recognition sensor.

Preferably, the articulated arm comprises fifth support means of said first means with a support point in said second means in order to rotate with respect to an axis orthogonal to the longitudinal extension axis (X-X) of said second means.

The method and the apparatus according to the invention allow:

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disconnect from the skill and experience of the operator;

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to the operator, to be able to remain inside the cabin of the motor vehicle in the presence of weather and / or extreme weather conditions;

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eliminate the possibility of damage to the container or the underground accommodation seat, due to operator errors;

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obtain extreme versatility of use, and can also be used for semi-buried containers

or surface.

The additional features and advantages of the invention will be mainly apparent from the detailed description of some preferred, but not exclusive, embodiments of a method and apparatus for moving waste containers and for emptying their contents according to the present invention. .

Said description will be set forth below with reference to the accompanying drawings, provided only for indicative purposes and therefore not limiting, in which:

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 Figure 1 is a schematic view of the positioning stage of the motor vehicle in the vicinity of the container to be emptied;

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 Figure 2 is a schematic view of the movement stage of the articulated arm;

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 Figure 3 is a schematic view of the vertical lifting stage of the coupling element together with the container to be emptied;

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 Figure 4 is a schematic view of the positioning stage of the container to be emptied, above the waste storage body of the motor vehicle, and

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 Figure 5 is a schematic view of the positioning stage of the container to be emptied inside its accommodation seat.

Referring to Figures 1 to 5, an apparatus for moving containers for waste and for emptying its contents according to the invention, is identified with reference number 100.

The apparatus 100 comprises a motor vehicle 2, such as a truck, comprising at least one waste storage body 3, placed on the motor vehicle 2, and at least one articulated arm 4 carried by the motor vehicle 2 and generally arranged , between the driving cabin of the motor vehicle 2 and the waste storage body 3.

The apparatus 100 also has at least one coupling element 5 for engaging the waste containers 16.

There are various hooking elements 5; By way of example, one that fits particularly well with the present invention is the coupling element described in EP0399280 in the name of Kinshofer.

However, different coupling elements may be mounted without departing from the scope of protection of the present invention.

The coupling element 5 is arranged at one end of the articulated arm 4, in particular at the opposite end to that by which the articulated arm 4 is connected to the motor vehicle 2.

In the embodiment shown in Figures 1 to 5, the articulated arm 4 has:

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first means 7 to support the engagement element 5;

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second means 8 for the vertical translation of at least the first means 7, defining a longitudinal extension axis (X-X);

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third means 9 for housing the second means 8;

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fourth means 10 for producing the rotation of said third means in a vertical plane. The second means 8 are displaceably coupled to the third means 9. To this end, the second means 8 are telescopically coupled to the third means 9, so

that the second means 8 are in a position to adopt, with respect to the third means, at least:

a first position, shown with a continuous line in Figure 2, in which a substantial part of the means 8 is housed, at least partially, inside the third means 9, and a second position, shown with broken lines in the Figure 2, in which a substantial part of the seconds

means 8 protrudes with respect to the third means 9. The first means 7 are mounted so that they rotate with respect to an axis orthogonal to the longitudinal extension axis (XX) of said second means 8. In detail, in the embodiment shown in the figures, the first means 7 have a fulcrum in some fifth means 11, sandwiched between the first means 5 and the second means 8. The fifth means 11 in turn have a support point 12 in the second means 8, in order to rotate about an axis orthogonal to the longitudinal extension axis (XX) of said second means 8. The motor vehicle 2 also has, in a known way, stabilizing devices not shown in the figures.

According to an important aspect of the present invention, the apparatus 100 has an optical system 13 to detect the positioning of the coupling element 5 and the container 16, and to transmit to the computerized system the appropriate information to enable it to calculate the movements that the articulated arm must perform. 4 to position the hooking element 5 on the container, perfectly aligned with its vertical axis YY.

For this purpose, the optical system 13 comprises at least a first chamber, not shown in the figure, suitable for detecting the positioning of the coupling element 5 and the container 16, and a transmission module, not shown in the figure, connected to a reception module of the computerized system to which adequate information will be sent to allow it to calculate the movements that the articulated arm 4 must perform to place the coupling element 5 on the container, perfectly aligned with its vertical axis YY.

In order for the computerized system to recognize that the coupling element 5 has come into contact with the container 16, in particular with its part enabled for such a function (holding bar 21), a container recognition sensor 16 is present.

The recognition sensor, not shown in the figure, can be mounted in the container 16 or, alternatively, in the coupling element 5.

To control that during the movement of the container 16 towards the waste storage body 3 and its return to the working position there are no impacts or interferences with obstacles, the optical system 13 comprises at least a second chamber 17, preferably two, and a monitoring screen, not visible in the figure, mounted inside the cabin of the motor vehicle 2.

In Figures 1 to 5, some steps of the process for moving containers for waste and for emptying its contents according to the present invention, using the apparatus described above, have been shown.

In detail in Figure 1, a step of approaching the motor vehicle 2 to the container 16 to be emptied has been shown. At this stage, the motor vehicle 2, in charge of evacuation, approaches the container 16 to be emptied to a useful distance. Such distance is chosen at the discretion of the driver in relation to the crane's performance limits.

Once the motor vehicle 2 is stopped in the vicinity of the container 16, by means of a parking brake provided for this purpose, the stabilizers of the motor vehicle 2 are activated to minimize the bending of the vehicle itself in the process of lifting the container 16 .

The operation can be carried out by means of the computerized system, or also manually by the operator without having to get off the vehicle thanks to the presence of the second cameras 17 and the monitoring screen.

At the end of this first stage, the computerized system carries out the actuation of the articulated arm 4 to extract the coupling element 5 from a predefined rest position, arranged in the motor vehicle.

2.

Once the coupling element 5 is removed, the operator proceeds to move the articulated arm 4 to approximate the coupling element at a predetermined distance D1 with respect to the container 16 to be emptied, located in a working position.

Preferably, the predetermined distance D1 is less than 3 m, preferably less than 2 m, and for example equal to approximately 1.5 m with respect to the vertical Y-Y axis of the container 16.

During this approach stage, the computerized system memorizes the operations that the operator has followed the articulated arm 4.

According to an important aspect of the present invention, it is the operator who proceeds with this operation by manually operating the control controls of the articulated arm 4, assisted by the second chamber 17 and by the monitoring screen.

Preferably, the operation or stage intended to move the articulated arm 4 to approximate the coupling element 5 at a predetermined distance D1 with respect to the container 16 to be emptied, is controlled and carried out by the operator, by means of a servo-assisted command. That is, a control that allows, through a support program, to combine together two or more directions of movement of the articulated arm, such as for example a joystick-type control system.

At this point, the computerized system that proceeds to position the hitch element 5 on the container and align it with its vertical Y-Y axis is back in action.

To carry out this stage, the procedure proceeds to the following sub-stages: c1) recognize, by an optical system, the positioning distance D2, between the position in space of said coupling element 5, at the end of the movement stage made by the operator, and the vertical axis (YY) of said container 16;

c2) calculate the movements that the articulated arm 4 must perform to position the hooking element 5 on the container 16, aligned with its vertical axis (Y-Y);

c3) automatically activate, by means of the computerized system, the movements calculated in the sub-stage c2);

c4) memorize the movements made in said stage c3).

To perform this stage, the computerized system receives information from the optical system, which allows it to identify the container and the positioning distance D2, between the position of the coupling element 5 at the end of the movement stage performed by the operator and the axis container vertical 16.

In the embodiment shown in the figure, the vertical axis Y-Y is the axis of symmetry of the holding bar 21 of the container 16.

In more detail, the information acquired from the optical system, through the first camera, is transferred, by means of transmission and reception modules provided for that purpose, to the computerized system for processing.

The computerized system calculates the movements that the articulated arm 4 must perform in order to place the coupling element 5 on the container 16, aligned with its vertical axis Y.Y, and actuates the articulated arm 4 for this purpose.

The position reached, that is to say the correct positioning of the coupling element 5 on the container 16, aligned with its vertical axis YY, is the result of the calculation made by the computerized system in relation to: ground level and height of the clamping bar 21 of the container 16 with respect to the ground (previously detected, after pointing).

During said movement to carry the coupling element on the container 16, aligned with its vertical Y-Y axis, the computerized system memorizes the movements that have been followed to the articulated arm 4.

Once it is recognized, by means of the optical system, that the coupling element 5 is aligned with the vertical axis YY of the container 16, the computerized system proceeds to lower the coupling element 5 and to engage the container 16 by means of the hitch 5.

At this stage, the computerized system "reads" and establishes the vertical distance that must be traversed to the coupling element 5 to reach the bar 21 of the container 16, also depending on the position of the motor vehicle 2 (for example, the slope of the street).

Also during the descent of the hitch element 5 to come into contact with the hitch bar 21 of the container 16, the computerized system memorizes the descent.

The computerized system recognizes the contact with the container, in particular with its holding bar 21, by means of a recognition sensor of the container 16, provided on the coupling element 5 or, alternatively, on the coupling bar 21.

At this point, the computerized system proceeds to control the articulated arm 4 to vertically lift the hooking element 5 together with the container 16, keeping the container 16 substantially vertical, see Figure 3.

The vertical lifting stage of the coupling element 5 together with the container 16, keeping the container 16 substantially vertical, is carried out until the container 16, completely removed from its housing seat 22, has been raised to a predetermined height H1, greater than the height of the upper edge 23 of the storage body 3 relative to the ground.

At this point, the computerized system is responsible for rotating the articulated arm 4 to carry the container 16 to be emptied on the waste storage body 3, figure 4.

Once the container 16 to be emptied is on the waste storage body 3, the computerized system recognizes by means of the optical system that the container 16 is in an ideal position for emptying and drives the emptying hatches or hatches of the container 16 , provided at the bottom of the latter, to allow waste to flow into the waste storage body 3.

Preferably, the computerized system provides at least two cycles of closing / opening the emptying doors to ensure perfect emptying of the container 16.

Once the emptying operation is finished and the emptying doors are closed again, the computerized system drives the articulated arm 4 to carry the emptying container 16 over the working position.

The term "work position", for the purposes of the present invention, refers to the position in which the waste container 16 collects the waste; in the case of underground waste containers 16, said position is represented by the placement of the container itself inside the underground housing seat 22.

At this point, the computerized system lowers the emptied container 16 to bring it to its working position, that is, in the case illustrated in Figures 1-5, inside its housing seat 22.

The movements of the articulated arm 4 of vertical rise of the coupling element 5 together with the container 16, of rotation and possibly of translation thereof to lead to the container 16 on the storage body 3, as well as the return movements of the container 16 on the working position and the new descent to the accommodation seat 22, are automatically carried out by the computerized system causing the articulated arm 4 to return to the movements memorized in the previous steps of approximation of the coupling element 5 from the position of Preset rest to the hitch bar 21.

Said route is carried out the other way around the computerized system, causing the articulated arm to return to the movements memorized in the preceding stages, and it may be modified with a correction coefficient to avoid interference or impacts of the container 16 or of the articulated arm 4 with obstacles of the surrounding space.

Said correction coefficient is a function of some variations introduced by the operator during the preceding stages of approximation of the coupling element 5 from the predefined rest position to the holding bar 21, with the aid of the second chamber 17 and the monitoring screen

Once the container 16 has been arranged again in its accommodation seat, the computerized system proceeds to disengage it and control the articulated arm 4 so that the coupling element 5, depending on the previously memorized routes, returns to its position of predefined rest, located on the motor vehicle 2.

Once this last operation has been carried out, an alarm signal will proceed to inform the operator that the operations have ended.

The operator can then order the collection of the stabilizers and the unlocking of the motor vehicle so that it can leave.

The present invention has been described with reference to some embodiments. Various modifications can be made in the embodiments described in detail, however, remaining within the scope of protection of the invention, defined by the following claims.

Claims (15)

1. Procedure for moving containers for waste and for emptying its contents by means of a device, characterized in that it comprises:

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a motor vehicle (2) comprising a waste storage body (3);

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at least one articulated arm (4) carried by said motor vehicle (2);

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at least one coupling element (5), disposed at one end of said articulated arm (4);

-a computerized system to manipulate said articulated arm (4), said procedure comprising the following steps: a) placing the motor vehicle (2) in the vicinity of the container (16) to be emptied; b) move the articulated arm (4) to approximate said coupling element (5) at a distance default D1 with respect to the container (16) to be emptied, located in a working position; c) placing said coupling element (5) on the container (16), aligned with its vertical axis (Y-Y); d) lowering said engagement element (5) and engaging said container (16) by said coupling element (5), by means of said computerized system; e) lifting said hooking element (5) vertically together with said container (16), keeping said container substantially vertical (16); f) rotate the articulated arm (4) to carry the container to be emptied on the body of waste storage (3); g) emptying the contents of said container (16) inside the waste storage body (3); h) rotate the articulated arm (4) again to take the empty container (16) to the position of job; i) lower the empty container (16) to return it to its working position, characterized in that:

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 step b) intended to move the articulated arm (4) to approximate said coupling element at a predetermined distance D1 with respect to the container to be emptied, is controlled and carried out by the operator, while

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 steps c) to i) are carried out automatically by the computerized system.

2. Procedure for moving containers for waste and for emptying its contents according to claim 1, characterized in that step c) comprises the following sub-stages: c1) recognizing, by an optical system, the positioning distance D2, between said position of said coupling element (5) at the end of step b), and the vertical axis (Y-Y) of said container (16); c2) calculate the movements that the articulated arm (4) must perform to place said coupling element (5) on the container (16), aligned with its vertical axis (Y-Y); c3) automatically activate, by means of the computerized system, the movements calculated in the sub-stage c2).

3.

 Procedure for moving containers for waste and for emptying its contents according to claim 2, characterized in that step c) further comprises the sub-stage of:

c4) memorize the movements made in said stage c3).

Four.

Method for moving containers for waste and for emptying its content according to any of the preceding claims, characterized in that step e) intended to lift said hooking element (5) vertically, together with said container (16), keeping said container substantially vertical ( 16), is carried out until the container (16) has been raised to a predetermined height H1 greater than the height of the upper edge (23) of the waste storage body (3) relative to the ground.

5.

Method for moving containers for waste and for emptying its contents according to any of the preceding claims, characterized in that said step b) comprises a sub-stage of:

b1) memorize the movements performed by the articulated arm in said stage b).

6.

Method for moving containers for waste and for emptying its contents according to any of the preceding claims, characterized in that step g) comprises the following sub-stages:

g1) recognition, by the computerized system, that said container (16) is located on the waste storage body (3) in a position suitable for emptying; g2) actuation, by the computerized system, of at least one emptying hatch.

7.

Procedure for moving containers for waste and for emptying its contents according to any of the preceding claims, characterized in that it comprises, prior to stage b), a stage of:

l) removing the coupling element from a predefined rest position on said motor vehicle (2).

8.

Procedure for moving containers for waste and for emptying its contents according to any of the preceding claims, characterized in that the steps h) and i) are carried out automatically by said computerized system causing the articulated arm (4) to go back through the movements memorized in stages b) and c).

9.

Procedure for moving containers for waste and for emptying its contents according to claim 8, characterized in that the steps h) and i) are carried out automatically by said computerized system causing the articulated arm to retrace the movements memorized in stages b), c) modified with a correction coefficient to avoid interference.

10.

 Procedure for moving containers for waste and for emptying its contents according to any of the preceding claims, characterized in that step b) intended to move the articulated arm (4) to approximate said coupling element at a predetermined distance D1 with respect to the container to be emptying, controlled and carried out by the operator, by means of a servo-assisted command.

eleven.

 Apparatus (100) for moving containers for waste and for emptying its contents, characterized in that it comprises:

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a motor vehicle (2) comprising at least one waste storage body (3);

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at least one articulated arm (4) carried by said motor vehicle (2);

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at least one coupling element (5), disposed at one end of said articulated arm (4); said articulated arm comprising:

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first means (7) for supporting the coupling element (5);

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second means (8) for vertical translation of at least said first means (7), defining a longitudinal extension axis (X-X);

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third means (9) for housing said second means (8);

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fourth means (10) for producing the rotation of said third means (9) in a vertical plane;

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said second means (8) are movably coupled to said third means (9), so that said second means (8) are able to adopt, with respect to said third means (9), at least:

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a first position in which a substantial part of said second means (8) is housed, at least partially, inside said third means (9); Y

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a second position in which a substantial part of said second means (8) protrudes with respect to said third means (9);

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said first means (7) are mounted so that they rotate with respect to an axis orthogonal to the longitudinal extension axis (X-X) of said second means (8),

characterized in that it comprises:

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 at least one computerized system (6) for moving said articulated arm (4).

12. Apparatus (100) for moving waste containers and for emptying its contents according to claim 11, characterized in that it comprises an optical system for detecting the positioning of the coupling element (5) and the container (16) and for transmitting to the computerized system the appropriate information to calculate the movements that the articulated arm (4) must perform to place said coupling element on the container. 13. Apparatus (100) for moving waste containers and for emptying its contents according to claim 12, characterized in that said optical system comprises at least a first chamber for detecting the positioning of the coupling element (5) and the container (16) . 14. Apparatus (100) for moving waste containers and emptying its contents according to claim 12, characterized in that the optical system comprises at least a second chamber (17) and a screen for monitoring the path of the container (16) during the movement and emptying operations of the container itself.

fifteen.

 Apparatus (100) for moving waste containers and for emptying their contents according to any of claims 11 to 14, characterized in that it comprises a container recognition sensor (16).

16.

 Apparatus (100) for moving containers for waste and for emptying its contents according to any of claims 11 to 15, characterized in that said articulated arm (4) comprises a fifth means (11) of

15 support of said first means (7), with a support point in said second means (8) to rotate with respect to an axis orthogonal to the longitudinal extension axis (X-X) of said second means (8).