DK0388618T3 - System for determining the spatial location of an object using a video optical sensor - Google Patents

System for determining the spatial location of an object using a video optical sensor

Info

Publication number
DK0388618T3
DK0388618T3 DK90102419.0T DK90102419T DK0388618T3 DK 0388618 T3 DK0388618 T3 DK 0388618T3 DK 90102419 T DK90102419 T DK 90102419T DK 0388618 T3 DK0388618 T3 DK 0388618T3
Authority
DK
Denmark
Prior art keywords
determining
optical sensor
spatial location
light source
space
Prior art date
Application number
DK90102419.0T
Other languages
Danish (da)
Inventor
Stefanie Dr Schulte-Hinsken
Johannes Kirchhof
Original Assignee
Edelhoff Polytechnik
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 Edelhoff Polytechnik filed Critical Edelhoff Polytechnik
Application granted granted Critical
Publication of DK0388618T3 publication Critical patent/DK0388618T3/en

Links

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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G01S17/875—Combinations of systems using electromagnetic waves other than radio waves for determining attitude
    • 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
    • B65F2003/0263—Constructional features relating to discharging means
    • B65F2003/0279—Constructional features relating to discharging means the discharging means mounted at the front of the vehicle
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Refuse-Collection Vehicles (AREA)
  • Measurement Of Optical Distance (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)
  • Transforming Light Signals Into Electric Signals (AREA)

Abstract

A system is used for determining the position of an object in space using a video-optical sensor which detects predetermined features of the object and which generates signals corresponding to the position of these features, which are processed in an electronic computing unit, preferably for controlling a manipulating device. To create a rugged and interference-proof system of this type which allows the reliable detection and determination of the position of objects in space and generates signals corresponding to the measured position of the object and processable in an electronic computing device, the object (5) is provided with at least three retro-reflecting marks (6) arranged at angles to one another in a predetermined pattern (6). The marks (6) are illuminated by a light source (7). A semiconductor camera (8) in the form of a flat sensor (CCD camera) is arranged in spatial association next to the light source (7). <IMAGE>
DK90102419.0T 1989-03-23 1990-02-07 System for determining the spatial location of an object using a video optical sensor DK0388618T3 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE3909762A DE3909762C2 (en) 1989-03-23 1989-03-23 Garbage collection system with a garbage collection vehicle and garbage containers

Publications (1)

Publication Number Publication Date
DK0388618T3 true DK0388618T3 (en) 1996-01-29

Family

ID=6377143

Family Applications (1)

Application Number Title Priority Date Filing Date
DK90102419.0T DK0388618T3 (en) 1989-03-23 1990-02-07 System for determining the spatial location of an object using a video optical sensor

Country Status (6)

Country Link
EP (1) EP0388618B1 (en)
AT (1) ATE128773T1 (en)
DE (2) DE3909762C2 (en)
DK (1) DK0388618T3 (en)
ES (1) ES2076978T3 (en)
GR (1) GR3017654T3 (en)

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5215423A (en) * 1990-09-21 1993-06-01 Edelhoff Polytechnik Gmbh & Co. System for determining the spatial position of an object by means of a video optical sensor
DE4142307A1 (en) * 1991-12-20 1993-01-21 Schoerling Waggonbau Method for emptying dustbins into dustcart - involves vehicle arranged as side loader with bin picked up from initial position within vehicle side contour and pivoted horizontally to discharge contents
DE4308753C1 (en) * 1993-03-19 1994-07-21 Deutsche Aerospace Method and device for image-based position detection
US5769954A (en) * 1993-08-13 1998-06-23 Putzmeister Aktiengesellschaft Process and device for treating the surface of large objects
WO1995005310A1 (en) * 1993-08-13 1995-02-23 Putzmeister-Werk Maschinenfabrik Gmbh Process for treating an object, in particular an aeroplane
AU7498394A (en) * 1993-08-31 1995-03-22 Putzmeister-Werk Maschinenfabrik Gmbh Arrangement for surface treatment, especially the cleaning of the surfaces of large objects
NL9301719A (en) * 1993-10-06 1995-05-01 Orlaco Holding B V Device for emptying a waste container into a loading bin of a waste collection vehicle.
US5424556A (en) * 1993-11-30 1995-06-13 Honeywell Inc. Gradient reflector location sensing system
DE9401965U1 (en) * 1994-02-05 1995-06-01 Aft Foerderanlagen Bautzen Gmb Automatic filling device for garbage trucks
DE19510359A1 (en) 1995-03-22 1996-09-26 Otto Geb Kg Device for automatically positioning a swivel arm
ATE186892T1 (en) * 1995-06-03 1999-12-15 Peters Klaus Tilmann COLLECTION SYSTEM FOR RECYCLING MATERIALS
DE19606786C1 (en) * 1996-02-23 1997-08-21 Goetting Jun Hans Heinrich Vehicle position detection and/or guidance method
DE19819646A1 (en) 1998-05-05 1999-11-11 Entlog Entsorgung Und Logistik Collection vehicle for waste and recyclables
DE19820143C1 (en) 1998-05-06 2000-01-13 Zoeller Kipper Emptying device for waste containers with a position detection and control device
DE29808379U1 (en) 1998-05-08 1998-12-10 Faun Umwelttechnik Gmbh & Co Refuse collection vehicle with side-mounted tilting device
NL1010751C2 (en) * 1998-12-07 2000-06-19 Bammens Bv System, truck mobile and collection container for the collection of household waste.
DE10053655A1 (en) * 2000-10-28 2002-05-23 Bernhard Kreuzer Device for controlling the welding parameters during resistance welding comprises using manually guided spot welding units to automatically determine the position of the welding electrodes of the spot welding units in the chamber
EP1340999A1 (en) * 2002-02-28 2003-09-03 Alignment International Limited Method and apparatus for identifying the position of an object
EP1340998A1 (en) * 2002-02-28 2003-09-03 Alignment International Limited Apparatus and method for identifying the orientation of an object
FI117835B (en) 2005-06-22 2007-03-15 Sime Oy Positioning method
CH703732A2 (en) * 2010-09-14 2012-03-15 Mondini Engineering Sa Process and apparatus for handling of containers for waste and for emptying of their content.
ES2361363B1 (en) * 2011-02-04 2012-01-03 RICARDO ROMERO MARTI (Titular al 40%) SMART SYSTEM FOR THE CONTROL AND MANAGEMENT OF A MOTOR VEHICLE FOR THE COLLECTION OF WASTE CONTAINERS.
JP5904475B2 (en) 2011-10-10 2016-04-13 ボルボ グループ ノース アメリカ，エルエルシー Garbage truck control system and method for controlling garbage truck

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3142227A1 (en) * 1981-10-24 1983-05-11 Friedrich Kampwerth Maschinenfabrik, 4518 Bad Laer "METHOD AND DEVICE FOR RECEIVING AND EMPTYING WASTE CONTAINERS"
DE3528047A1 (en) * 1985-08-05 1987-02-05 Bbc Brown Boveri & Cie Method for locating unknown objects
DE3684538D1 (en) * 1985-08-13 1992-04-30 Edelhoff Polytechnik SYSTEM FOR DETERMINING THE LOCATION OF AN OBJECT RELATIVE TO A HANDLING DEVICE.
US4834531A (en) * 1985-10-31 1989-05-30 Energy Optics, Incorporated Dead reckoning optoelectronic intelligent docking system
FR2602057B1 (en) * 1986-07-22 1988-11-04 Matra OPTICAL DISTANCE MEASUREMENT METHOD AND DEVICE
JPS63243706A (en) * 1987-03-31 1988-10-11 Kanto Auto Works Ltd Optical detector of position

Also Published As

Publication number Publication date
EP0388618B1 (en) 1995-10-04
DE3909762A1 (en) 1990-09-27
ATE128773T1 (en) 1995-10-15
EP0388618A2 (en) 1990-09-26
GR3017654T3 (en) 1996-01-31
ES2076978T3 (en) 1995-11-16
DE3909762C2 (en) 2003-02-06
DE59009732D1 (en) 1995-11-09
EP0388618A3 (en) 1991-12-11

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