EP3118141B1

EP3118141B1 - Security system for safeguarding a lifting-tilting path of a loading system, and a method therefor

Info

Publication number: EP3118141B1
Application number: EP16179561.2A
Authority: EP
Inventors: Jan Paul Versteeg
Original assignee: Terberg Machines BV
Current assignee: Terberg Machines BV
Priority date: 2015-07-14
Filing date: 2016-07-14
Publication date: 2022-07-06
Anticipated expiration: 2036-07-14
Also published as: EP3118141A1; PL3118141T3; NL2015164B1; DK3118141T3; LT3118141T; PT3118141T; ES2924484T3

Description

The present invention relates to a security system with which a lifting-tilting path of a loading system is safeguarded. Such a loading system is used particularly for emptying containers such as bins into a collector, for instance a refuse truck.
In practice containers, such as refuse bins, are emptied into a refuse truck or other collector with a loading system. The bin is lifted and tilted here with a loading seat such that the content is carried into the collector. These loading systems are frequently mounted at the rear of a refuse truck. A lifting mechanism of the loading system provides for engagement of the container and tilting of the container. In order to prevent accidents, particularly when setting down empty containers, sensors are usually provided on the loading system. Such a loading system with sensors is described for instance in NL-C-2 008 407 , DE-A-10 2005 023 154 , and EP-A-0 818 402 . Described herein are sensors which detect whether people and/or objects are entering the operating area from the rear side of the loading system during emptying of a container. These people and/or objects could be struck by the container as it is being set down. Document DE-A-10 2005 023 154 in particular forms the basis for the preamble of claim 1.
A problem with existing loading systems is that people or other objects can be carried along during the lifting-tilting movement during emptying of a container. This can be caused for instance in that people can be caught with their clothing on a container or other part of the loading system and be lifted or dragged along with it. Hazardous situations can hereby occur wherein people or other objects could even end up in the collector. In the case of a refuse truck this can even result in people or other objects ending up in the press.
The present invention has for its object to provide a solution for the above stated problems and thereby at least reduce the risk of injury and other damage.
This object is achieved with the security system according to claim 1 for safeguarding a lifting-tilting path of a loading system provided with at least one loading seat for emptying a container into a collector.
By providing a sensor with a monitoring area which is configured such that during the movement of the loading seat with a container for emptying in this lifting-tilting path objects, including people, can be detected and safety during emptying of bins into a collector is increased. A lifting-tilting path comprises the movement of the container during emptying thereof, usually a combination of a lifting movement and a tilting movement. Other combinations and/or purely a tilting movement likewise fall within the lifting-tilting movement of the container according to the invention.
By connecting an alarm system operatively to the sensor it is possible according to the invention to realize a blocking in direct or indirect manner of a further movement of the loading seat after it has been detected that an object is located in the monitoring area during the lifting-tilting movement of the container, such that objects, including people, cannot end up in the collector. It is possible to intervene by blocking the movement of the loading seat with the control of a loading system in automatic manner or manually. After stopping the lifting-tilting movement with the container it is preferably possible to move the container back again manually or in automatic manner without it being emptied, and to remove the person or the object from the container. The alarm system can optionally stop the press of the collector/refuse truck directly or indirectly. It is optionally also possible to activate the handbrake and/or brake of the (refuse) truck using the alarm system.
The alarm system is preferably integrated according to the invention in the control of the loading system and can intervene directly in the movement of the loading seat, or indirectly via a control system of the loading system and/or via an alarm signal given to the users of the loading system and/or the driver of a refuse truck. It will be apparent that such an alarm signal can be embodied in different ways, for instance with an alarm light, sound signal, message on a screen to the driver, message on a mobile or other device, combinations thereof etc.
The monitoring area of the sensor comprises at least a part of the lifting-tilting path of the container during the movement of such a container with the loading seat. A container will move through this monitoring area of the sensor, as well as unwanted objects, including people, pulled or dragged along with the container.
It is noted here that the monitoring area of the sensor differs from the operating area at the rear of the loading system toward which sensors are directed in existing loading systems, for instance as described in NL 2008407 . Such conventional systems are not capable of detecting whether for instance a person is being carried along with the container during the lifting-tilting movement. Such conventional systems are after all only focused on detection of a person or other object in the operating area. This means that tilting of the container continues even when a person is being dragged along in undesirable manner by a container. This problem is solved by the security system according to the present invention such that the safety of operation with a loading system is increased and accidents are avoided along with the usually associated damage.
The security system according to the present invention is preferably configured such that it can be applied in emptying different types of container, for instance two-wheel or four-wheel bins, bins of a differing volume, for instance 120 litres, 140 litres, 240 litres, 360 litres. It will be apparent that other types of bin can also be applied. It is preferably also possible to empty bins wherein use is for instance made of two co-acting loading seats and that the security system can also be applied in a loading system wherein two loading seats operate independently of each other.
According to the present invention the sensor is connected in use to an inward travel guide of a loading system moving together with the loading seat.
By connecting a sensor in use to an inward travel guide which moves together with the loading system, in particular with a loading seat of the loading system, a moving monitoring area is provided for the sensor during emptying of a container. The monitoring area hereby extends through a substantial part of the lifting-tilting path of the loading seat of the loading system. This makes detection over a path possible. This makes detection for a certain time period possible such that a greater degree of robustness and stability of the measurement is achieved. The number of false alarms is for instance hereby reduced.
According to the invention, the sensor is mounted in use on the inward travel guide at a height above a container for emptying such that during the lifting-tilting movement the sensor moves along with the loading seat. The sensor is for instance mounted on the inward travel guide using a support body at about 200 mm above the teeth on the inward travel guide. Another height can optionally also be used depending on the type of sensor.
The sensor of the security system according to the invention is preferably positioned such that the middle of the monitoring area lies at an angle relative to the width of the loading seat, wherein the angle lies in the range of 40°-80°, preferably in the range of 55°-75°, and most preferably amounts to about 65°. An effective monitoring area for the sensor is realized by having the sensor, particularly in the central range of the sensor signal, detect at an angle of in particular about 65° relative to the pick-up teeth of the inward travel guide. People or other objects being dragged along with the container can in this way be detected in timely manner before the actual emptying of the container into the collector is carried out. Tests have shown that a sufficient width is hereby provided for the monitoring area and people or other objects are detectable in good time.
Further, according to the invention, the sensor is likewise positioned such that the middle of the monitoring area lies at an angle relative to an upper surface of the container, or relative to another horizontal plane, wherein the angle lies in the range of 0°-10°, preferably in the range of 0°-5°, and the angle most preferably amounts to about 2°. It has been found that arranging an angle between the central range of the sensor signal and a substantially horizontal plane provides an effective monitoring area whereby people or other objects situated on or at the container can be detected in effective manner. Parts of objects, for instance the head of a person, which protrude above the handle of the bin during the lifting-tilting movement thereof can hereby be detected in effective manner.
The monitoring area is preferably also operational in a vertical plane over an angle of tilt in the range of 0°-90°, preferably 30°-90° during emptying of the container into the collector. This achieves that a timely detection is possible before the bin is actually emptied. Detection preferably begins as soon as the bin has been lifted a small distance from the ground in order to hereby prevent false alarms during positioning of the bin for emptying relative to the loading seat by a person. An effective detection in this way becomes possible in use.
In a currently preferred embodiment according to the invention the above stated angles are combined in one and the same security system such that said effects and advantages are combined. Tests have shown that an effective safeguarding is hereby provided during the lifting-tilting movement such that safety of operation with a loading system is significantly improved for people.
In an advantageous preferred embodiment according to the present invention the sensor comprises an ultrasonic sensor.
The use of an ultrasonic sensor gives a security system according to the invention a reliable detection . It is thus found that such a sensor continues to function reliably even in snow, rain and other disruptive weather conditions. As alternative, operation is possible using one or more light sensors, including sensors which make use of infrared or laser. Tests have however shown that an ultrasonic sensor is currently recommended because of robustness and from the viewpoint of cost control.
In a further advantageous preferred embodiment according to the present invention the sensor comprises a camera.
By providing a camera, safeguarding can be provided in effective manner for the purpose of the security system according to the invention. With a camera it is possible using image recognition to detect whether objects, including people, are located in an undesirable position during the lifting-tilting movement. Injury and other damage can in this way be avoided through intervention with an alarm system. Although in a currently preferred embodiment the camera, as well as the above-mentioned ultrasonic sensor, is mounted on the loading seat, in particular on a co-displacing inward travel guide, it is also possible according to the invention to mount these sensors, as well as alternative sensors, in a fixed position. It is possible here to envisage a side guard or upper side above the opening of a collector. Although a smaller detection range, and thereby a shorter detection time, is available with such a fixed positioning of the sensors, it is however possible to hereby safeguard a part of the lifting-tilting path and detect undesirable objects, including people, therein.
In a further advantageous preferred embodiment according to the present invention the security system further comprises a second sensor for a second loading seat of the loading system.
A second loading seat can also be safeguarded by providing a second sensor. It is also possible if desired according to the invention to provide a further sensor for a further loading seat, for instance a third loading seat. Many loading systems are provided in practice with two loading seats which operate independently for relatively small containers and synchronously in the case of large bins, such as four-wheel bins. Providing both loading seats with a separate sensor achieves that the whole loading system is secured with the security system according to the invention. Use can be made here of two separate security systems in the case of two loading seats, i.e. each loading seat is provided with a separate security system. It is also possible to have the security system for a loading system function for all loading seats provided in the loading system. This provides particular advantages in the case loading seats can operate independently of each other as well as synchronously.
The invention further relates to a loading system provided with a security system such as described above, and to a vehicle provided with such a security system and/or loading system.
Such a loading system and/or vehicle provides the same effects and advantages as stated for the security system.
In a currently preferred embodiment the monitoring area of the sensor is configured such that the loading system can handle containers, in particular 2-wheel bins, for instance with a volume of 120-360 litres. A loading system which can be utilized effectively in practice is hereby provided, wherein sufficient safety is provided for a user using the security system according to the invention.
The invention further also relates to a method for safeguarding a monitoring area during emptying of a container into a collector with a loading system provided with at least one loading seat, wherein use is made of a security system as described above, and wherein the monitoring area of a sensor at least partially comprises a lifting-tilting path of the container during the movement of the container in the loading seat.
Such a method provides the same effects and advantages as described above for the security system, loading system and/or vehicle.
Further advantages, features and details of the invention will be elucidated on the basis of preferred embodiments thereof, wherein reference is made to the accompanying drawings, in which:

Figure 1 shows a refuse truck with security system according to the invention in a number of embodiments thereof;
Figures 2A-C show a security system with co-displacing sensors according to the invention;
Figures 3A-B show views of the security system of figure 2;
Figures 4A-B show a security system, that is that is outside the scope of the claims; and
Figures 5A-B show a further alternative security system that is outside the scope of the claims.

Refuse truck 2 (figure 1) is provided with collector 4 with press and loading system 6. Loading system 6 is provided in the shown embodiment with two loading seats 8 with which containers can be emptied into opening 10 of collector 4. Loading system 6 is provided with security system 12. In the shown embodiment security system 12 comprises one or more sensors. These sensors are one or more co-displacing sensors 14 which move together with loading seat 8, a number of sensors 16 arranged in side guard 18, sensors 20 mounted at the top of collector 4 and/or a camera 22 arranged on the upper side. In the shown embodiment control box or control panel 24 for loading system 6 is connected operatively to control 26. Control 26 is for instance arranged in or close to control panel 24 and is operatively connected to alarm 28, for instance in the form of a sound signal, light signal or other type of alert. Operating area 30 on the rear side of loading system 6 is the area where containers or bins are placed.
In a first embodiment of security system 12 sensors 14 are arranged on or close to inward travel guide 32 (figures 2A-C). Provided in the shown embodiment are two loading seats 8, each provided with separate sensor 14. A receiving comb 34 with teeth extends between the two sensors 14. Monitoring area 36 comprises at least a part of lifting-tilting path 38. Lifting-tilting path 38 comprises the movement of bin 40 as soon as it is brought into connection with comb 34 by a person P. Monitoring area 36 with angle β passes through a monitoring range 40 which comprises a significant part of the total lifting-tilting path 38. Lifting-tilting path 38 is distinguished here from operating area 30 in that a person P, who is on bin 40 and is for instance being dragged along thereby, is located outside operating area 30 while passing through lifting-tilting path 38. Using sensors 14 security system 12 can detect such a person and via control 26 stop the movement of loading seat 8 and/or via alarm 28 of alarm system 43 report an indication of a hazardous situation and/or intervene in the press of the collector or refuse truck and/or activate the (hand) brake of the refuse truck.
In use bin 40 with handle 44 is hooked onto comb 34 (figures 3A-B). Sensor 14 is connected via support 46 to guide 32. Monitoring area 36 is provided with a middle/central detection line 48 which makes an angle γ with a horizontal line extending in the longitudinal direction of comb 34. In the shown embodiment γ is about 65°. A relevant part of the bin 40, i.e. a major part of handle 44, is hereby detected with this embodiment of security system 12. Sensor 14 is located in the shown embodiment about 200 mm above cover 50 of bin 40, wherein the middle 48 of monitoring area 36 makes an angle δ with the horizontal 52 which substantially corresponds to the plane formed by the upper side of cover 50. In the shown embodiment the angle δ is about 2°.
In the shown embodiment sensor 14 is an ultrasonic sensor with a detection length of about 60 mm to 1500 mm, and preferably an adjustable detection window with an opening angle and a closing angle with which monitoring range 40 is defined. It has been found that diverse types of bin 40 of differing volumes, for instance 120 litres as well as 360 litres, can hereby be handled. Security system 12 is activated as soon as bin 40 is lifted from the ground with loading seat 8. Monitoring range 40 begins as soon as a height of about 25 cm, or another adjustable height, from the ground has been reached. Monitoring area 36 moves in this embodiment along through lifting-tilting path 38 and for instance detects a person P in the case he/she is being dragged along with bin 40 during an emptying operation thereof. Should a person P be detected in monitoring area 36 during the passage through monitoring range 40, the movement of loading seat 8 is preferably stopped using alarm system 42 via control 26 and/or a signal is given via alarm 28. Action can then be taken manually and/or automatically via control 26, preferably in one or more of the above described ways.
In security system 12 outside the scope of the claims (figures 4A-B) is provided with two sensors 20, for instance ultrasonic sensors, and a sensor 22, in particular a camera, which are mounted fixedly on an upper side of loading system 6. Using sensors 20, 22 a respective monitoring area 54, 56 can be provided in effective manner with which a person P who is located on or at a bin 40A, 40B and is being dragged along in undesirable manner during an emptying operation is detected such that intervention is possible.
In another security system 12 outside the scope of the claims is provided with a first pair of sensors 16A and a second pair of sensors 16B (Figures 5A-B). Sensors 16A measure in a respective monitoring area 58A, 58B and sensors 16B measure in a respective monitoring area 60A, 60B in the case two loading seats 8 are provided in loading system 6. By making use of a plurality of pairs of sensors 16 fixedly disposed close to guard 18 different types of bin 40A, 40B can be handled in loading system 6, wherein the different types of bin 40A, 40B can still be safeguarded with security system 12.
The present invention is by no means limited to the above described preferred embodiments thereof. The rights sought are defined by the following claims, within the scope of which many modifications can be envisaged. It is thus possible for instance to interchange or combine the different types of sensor 14, 16, 20, 22 between the different embodiments of loading system 12 (figures 1-5). It is thus possible for instance that camera 22 is provided moving together with loading seat 8 by being positioned in similar manner to sensor 14 close to or on inward travel guide 32.

Claims

Security system (12) for safeguarding a lifting-tilting path (38) of a loading system provided with at least one loading seat (8) for emptying a container (40) into a collector (4), the security system comprising:
- a sensor (14) with a monitoring area (36) configured to detect objects (P) in the monitoring area during movement of the loading seat during emptying of the container into the collector; and

- an alarm system (43) operatively connected to the sensor for directly or indirectly performing a blocking of the movement of the loading seat, wherein the monitoring area of the sensor at least partially comprises the lifting-tilting path of the container during the movement of the container in the loading seat,
characterized in that the sensor is connected in use to an inward travel guide (32) of the loading system such that the sensor moves along with the loading seat during the lifting-tilting movement, such that the monitoring area is positioned above the upper surface of the container and comprises at least a part of the lifting-tilting path (38) of the container, wherein the sensor is mounted in use on the inward travel guide (32) at a height above the container, and wherein the sensor, before lifting-tilting of the container commences, is positioned such that a middle of the monitoring area lies at an angle (δ) relative to a horizontal plane, wherein the angle lies in the range of 0°-10.
Security system as claimed in claim 1, wherein the sensor is positioned such that a middle (48) of the monitoring area lies at an angle (γ) relative to the width of the loading seat, wherein the angle lies in the range of 40°-80°, preferably in the range of 55°-75°, and most preferably amounts to about 65°.
Security system as claimed in one or more of the foregoing claims, wherein the angle (δ) lies in the range of 0°-5°, and preferably amounts to about 2°.
Security system as claimed in one or more of the foregoing claims, wherein the monitoring area is operational in a vertical plane over an angle of tilt in the range of 0°-90°, preferably 30°-90° during emptying of the container into the collector.
Security system as claimed in one or more of the foregoing claims, wherein the sensor comprises an ultrasonic sensor.
Security system as claimed in one or more of the foregoing claims, wherein the sensor comprises a camera (22).
Security system as claimed in one or more of the foregoing claims, further comprising a second sensor (14) for a second loading seat of the loading system, wherein the second sensor (14) is operatively connected to the alarm system (43).
Loading system (6) comprising at least one loading seat provided with a security system (12) as claimed in one or more of the foregoing claims.
Loading system as claimed in claim 9, wherein the monitoring area (36) of the sensor is configured to handle containers (40) with a volume in the range of 120 to 360 litres.
Vehicle (2) provided with a collector, a security system (12) and a loading system (6) as claimed in one or more of the foregoing claims.
Method for safeguarding a monitoring area (36) with a security system (12) during emptying of a container (40) into a collector (4), comprising the steps of:
- providing a loading system (6) with a security system according to one or more of the foregoing claims, wherein the loading system is further provided with at least one loading seat (8), wherein the monitoring area of the sensor (14) at least partially comprises the lifting-tilting path (38) of the container during the movement of the container in the loading seat; and

- moving the container in the loading seat and safeguarding the monitoring area by moving the sensor along with the loading seat during the lifting-tilting movement.