EP0647574B2 - Dispositif pour vider des poubelles dans la benne d'un véhicule de ramassage - Google Patents

Dispositif pour vider des poubelles dans la benne d'un véhicule de ramassage Download PDF

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Publication number
EP0647574B2
EP0647574B2 EP94202875A EP94202875A EP0647574B2 EP 0647574 B2 EP0647574 B2 EP 0647574B2 EP 94202875 A EP94202875 A EP 94202875A EP 94202875 A EP94202875 A EP 94202875A EP 0647574 B2 EP0647574 B2 EP 0647574B2
Authority
EP
European Patent Office
Prior art keywords
waste container
emptied
jib
container
waste
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.)
Expired - Lifetime
Application number
EP94202875A
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German (de)
English (en)
Other versions
EP0647574A1 (fr
EP0647574B1 (fr
Inventor
Gerrit Van Beusekom
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.)
Exploitatiemaatschappij Berghaaf BV
Original Assignee
EXPL MIJ DE BERGHAAF BV
Exploitatiemaatschappij Berghaaf BV
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Filing date
Publication date
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First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=19862970&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP0647574(B2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by EXPL MIJ DE BERGHAAF BV, Exploitatiemaatschappij Berghaaf BV filed Critical EXPL MIJ DE BERGHAAF BV
Publication of EP0647574A1 publication Critical patent/EP0647574A1/fr
Application granted granted Critical
Publication of EP0647574B1 publication Critical patent/EP0647574B1/fr
Publication of EP0647574B2 publication Critical patent/EP0647574B2/fr
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • 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
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F3/0203—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto with crane-like mechanisms
    • 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
    • B65F2003/022—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto the discharging means comprising a device for determining the weight of the content of refuse receptacles

Definitions

  • the invention relates to a device according to the preamble of claim 1.
  • an image displayed on a viewing screen in the driver's cab is assessed by operating an activating switch and the jib can automatically lift up and empty any ready waste containers under the control of a computing unit.
  • One disadvantage when using such a device is the fact that, when there is more than one waste container in the image field to be assessed, the selection of a specific waste container by the jib cannot be influenced by the driver.
  • the object of the present invention is to provide a device which does not have this disadvantage and which allows the emptying of the waste containers to be carried out in a more flexible manner.
  • waste containers can be lifted up and emptied in a safe manner using a jib.
  • a refuse collection vehide or refuse lorry is designated by reference numeral 1 and is equipped with a jib 2, which is intended for lifting up waste containers 4 placed along the side of the street 3 and ready for emptying, and emptying them into a receiving container 5 of the refuse lorry 1.
  • the jib 2 is provided with controllable motors 2a.
  • the refuse lorry 1 is equipped with a camera 6, in particular a CCD camera, the recorded images of which can be displayed on a viewing screen 7 (see also Fig. 2) in the driver's cab 8 of the refuse lorry 1.
  • the camera 6 is directed towards the side of the street 3, in particular when the refuse lorry 1 is moving, in this case the right-hand side, where any waste containers 4 may be placed ready for emptying.
  • the camera 6 is equipped with a lens having a large angle of aperture, so that a relatively large part of the side of the street 3 is thus covered and can be displayed on the viewing screen 7.
  • the driver of the refuse lorry 1 sees one or more waste containers 4 on the viewing screen 7, he stops the refuse lorry 1 and activates the jib 2 in order to lift up and empty a specific waste container 4.
  • Means suitable for this purpose are present in the driver's cab 8, by means of which a waste container 4 to be emptied can be selected on the viewing screen.
  • the viewing screen 7 is designed as a touch screen so that a waste container 4 to be emptied can be selected by pointing at (touching) the viewing screen.
  • any additional mechanical parts for use in selecting a waste container can largely be ommited. Thereby the occurence of mechanical failure, due to e.g. damage, which is not inconceivable in an environment like a refuse lorry, will be largely reduced.
  • signals are generated by the position determining means connected to the viewing screen, which signals are related to the coordinates of the position indicated on the viewing screen and thus to the position of the selected/ indicated waste container 4 relative to the refuse lorry 1.
  • the signals generated by the position determining means are supplied to the jib control means which provide the motors of the jib 2 with control signals.
  • the jib 2 is then moved to the location which corresponds to the position indicated on the viewing screen 7 and which is outside the refuse lorry 1.
  • the waste containers 4 are expediently provided with a mark, in particular a sticker 9 affixed to one of the side walls of the waste container 4.
  • Said sticker 9 has a colour which contrasts with that of the waste container 4, in particular insofar as the frequency application range of the camera 6 is concerned, which frequency application range is likewise still to be described.
  • the sticker 9 is clearly visible on the viewing screen 7 by means of a camera 6, and possibly also with the naked eye. If a waste container 4 is to be easily identifiable, it is obviously important that said waste container 4 faces the street 3 with the side wall which is provided with the sticker 9.
  • a second camera 10 which is mounted on the jib, is directed at the identified and selected waste container 4, after the jib 2 has been moved into a position corresponding to the location indicated on the viewing screen 7, and tries to establish the exact location of the sticker 9 on the waste container 4.
  • the image formed by the camera 10 is supplied to a computing element which tries to identify the specific shape or one or more other features of the sticker 9 by means of pattern identification techniques on the basis of the image.
  • new control signals for the jib 2 are generated so as to position the latter more accurately relative to the waste container 4.
  • a distance measuring element which is not specified in more detail, nor shown, and which is also mounted on the jib 2, likewise provides signals to the jib control means, which signals are a measure for the distance between the jib 2 and the selected waste container 4.
  • the jib 2 can thus be moved accurately towards the waste container 4 in order subsequently to lift and empty the latter.
  • camera 10 is provided with a lens having a small angle of aperture.
  • the waste container 4 After the waste container 4 has been emptied, it is again placed along the side of the street 3, preferably in such a manner that the side wall provided with the sticker 9 faces away from the road, so that a waste container is not lifted up again for emptying once it has been emptied.
  • the sticker 9 affixed to a waste container 4 in addition to serving as a means for aligning the jib 2 relative to the waste container 4, may also contain information relating among other things to the provenance of the waste container 4.
  • the progress of the refuse collection can be registered, which may be important in determining the efficiency with which it is carried out.
  • the refuse lorry 1 and in particular the jib 2 thereof are provided with a weighing element, it is likewise possible to weigh the waste container 4 to be emptied and to store the weight of the refuse from the waste container 4 together with the information relating to the provenance thereof, in order thereby to provide a logistic system which may be suited for various purposes.
  • the information of interest is provided on the sticker 9 in an encoded form.
  • the code is a so-called dot code.
  • a dot code consists of a number of dots which are positioned in an imaginary matrix raster.
  • the format (the rank) of the matrix is selectable.
  • the minimum format is determined by the amount of information which has to be encoded.
  • the combination of dots missing and dots present represents a binary number. Said number may represent an arbitrary combination of letters and figures.
  • By adding a number of redundant dots the code becomes error-correcting to a certain degree. This means that it is permissible for a number of dots to be erroneously removed or added.
  • the redundancy also offers the possibility of a verifying calculation, which makes it virtually impossible to obtain false readings.
  • the example of fig. 3 shows a dot code by means of which 2 52 (approximately 4.5 ⁇ 10 15 ) different identifications can be encoded. Said code has 32 redundant dots with which a maximum of 4 false dots can be corrected.
  • the dot code on the sticker 9 can be read, for example, after the aforementioned camera 10 has identified the specific pattern of the sticker, in this example an oval shape.
  • the dot code can be read in and decoded as soon as the dot code fills the viewing screen, to which end the camera 10 zooms in or is moved towards the code.
  • the dot code there is a band which is unprinted. Outside said band, anything may be added. This may be, for example, the address of provenance of the waste container 4 in conventional writing, so that the owner can collect his own waste container 4 after it has been emptied.
  • the code may also contain information relating to the type of waste container, for example glass, VFG (vegetable, fruit and garden) or other waste, and also to its contents.
  • VFG vegetable, fruit and garden
  • optional waste container-pecific control signals can be sent to the motors 2a of the jib 2 and, for example, the waste container 4 can be emptied into a compartment of the receiving container 5 intended for the specific type of waste, provided the refuse lorry is a multi-compartment refuse lorry.
  • the refuse lorry 1 can be provided with a lighting device 11 which illuminates the sticker 9 during recording by the camera by means of a short flash in order to record the dot pattern, or which radiates a continuous light beam.
  • a lighting device 11 which illuminates the sticker 9 during recording by the camera by means of a short flash in order to record the dot pattern, or which radiates a continuous light beam.
  • the (flash) light has a peak frequency in the infrared range.
  • the cameras and lighting units are (mechanically) screened from the environment so as to prevent the occurrence of reading errors as a result of contamination.
  • the image recording equipment is filled with a neutral gas (for example nitrogen gas) which is at a slight overpressure. Condensation of the exterior of the image recording equipment is prevented by heating the glass surfaces thereof.
  • selection means in the above-described illustrative embodiment of the device according to the invention comprise a touch screen 7, the selection can also be effected by means of a light pen or a joystick indicating a position on the screen 7.
  • camera 6 is mounted on the refuse lorry 1, while camera 10 is attached to the jib 2.
  • camera 6 it is likewise possible to mount camera 6 on the jib 2 as well, or to combine the functions of both cameras in one camera.
  • the matrix is not limited to a 10 ⁇ 10 matrix, but it is also possible to use larger or smaller matrices, depending on the amount of information to be encoded, while other dot configurations or entirely different codes, such as bar codes, are also conceivable.
  • the dot matrix can also be used to generate control signals for the motors 2a of the jib 2.
  • the image formed by the camera 10 will show a matrix, the mutual distance between the dots of which is smaller than the actual mutual distance, which information can, in turn, serve as a measure for the control signals.
  • the invention has been described with reference to an example of a device for automatically lifting up and emptying a waste container, it is also conceivable for it to be possible for the jib 2 to be operated manually by means of suitable operating means provided for this purpose in the driver's cab 8 or on the exterior of the refuse lorry 1.
  • the invention is not limited to the illustrative embodiment described above and shown in fig. 1, in which the jib 2 lifts up the waste containers 4 on the right-hand side of the refuse lorry 1. It is likewise possible for the jib 2 to be arranged to lift up the waste containers on the left-hand side of the refuse lorry 1, in which case the cameras 6, 10 are also directed to the left. In addition, a jib 2 suitable for loading from the rear is conceivable, the arrangement of the cameras being modified accordingly.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Refuse-Collection Vehicles (AREA)
  • Refuse Collection And Transfer (AREA)

Claims (10)

  1. Dispositif monté sur un véhicule de ramassage des ordures (1) pour vider les poubelles (4) dans une benne réceptrice du véhicule de ramassage des ordures, comprenant:
    des moyens de détection pour détecter au moins une poubelle prête à être vidée,
    des moyens de détermination de la position pour déterminer la position d'une poubelle devant être vidée par rapport au véhicule de ramassage des ordures,
    un bras de ramassage (2) monté sur le véhicule de ramassage des ordures pour ramasser une poubelle à vider et pour amener la poubelle dans une position dans laquelle elle puisse être vidée,
    un premier moyen de commande du bras pour commander automatiquement le bras d'après des signaux produits par les moyens de détermination de la position en fonction de la position de la poubelle à vider par rapport au véhicule de ramassage des ordures,
    dans lequel les moyens de détection comprennent un premier capteur d'image (6), un écran de visualisation (7) est installé dans la cabine de conduite du véhicule de ramassage des ordures pour afficher une image contenant une ou plusieurs poubelles enregistrée par le premier capteur d'image, caractérisé en ce que le dispositif comprend aussi des moyens de sélection disposés dans la cabine de conduite (8) au moyen duquel une poubelle à vider peut être sélectionnée sur l'image affichée sur l'écran de visualisation (7) et en ce que les moyens de sélection permettent au conducteur de désigner une poubelle affichée pour ainsi définir la poubelle comme étant la poubelle à vider.
  2. Dispositif selon la revendication 1, caractérisé en ce que l'écran de visualisation (7) est un écran tactile au moyen duquel une poubelle (4) à vider peut être sélectionnée sur l'image affichée sur l'écran de visualisation.
  3. Dispositif selon la revendication 1 ou 2, caractérisé en ce que le dispositif comprend des moyens de lecture pour lire des informations fournies sur une poubelle (4) à vider, ainsi que des moyens d'enregistrement pour mémoriser les informations.
  4. Dispositif selon la revendication 3, caractérisé en ce que les moyens de lecture comprennent un deuxième capteur d'image (10) monté sur le bras.
  5. Dispositif selon l'une des revendications précédentes, caractérisé en ce que le dispositif comprend un deuxième moyen de commande du bras pour actionner manuellement le bras (2).
  6. Dispositif selon l'une des revendications précédentes, caractérisé en ce que le dispositif comprend des moyens d'identification de configuration pour aligner le bras (2) par rapport à la poubelle (4) à vider avant de la saisir.
  7. Dispositif selon l'une des revendications 3-6, caractérisé en ce que le bras (2) comprend des moyens de pesage avec lequel le poids d'une poubelle (4) à vider peut être déterminé, et en ce que les moyens d'enregistrement sont équipés pour mémoriser ce poids en même temps que les informations fournies sur la poubelle à vider.
  8. Dispositif selon l'une des revendications précédentes, caractérisé en ce que le dispositif est muni d'un élément éclairant (11) prévu pour éclairer les poubelles.
  9. Dispositif selon la revendication 8, caractérisé en ce que l'élément éclairant (11) émet un rayonnement lumineux à des fréquences qui se situent à l'intérieur d'une bande de fréquences étroite spécifique, et en ce que les capteurs d'image sont équipés pour détecter la lumière ayant des fréquences situées à l'intérieur de la bande de fréquences étroite spécifique.
  10. Dispositif selon la revendication 9, caractérisé en ce que la bande de fréquences étroite spécifique est d'environ 880 nm.
EP94202875A 1993-10-06 1994-10-05 Dispositif pour vider des poubelles dans la benne d'un véhicule de ramassage Expired - Lifetime EP0647574B2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL9301719 1993-10-06
NL9301719A NL9301719A (nl) 1993-10-06 1993-10-06 Inrichting voor het legen van een afvalhouder in een laadbak van een afvalverzamelvoertuig.

Publications (3)

Publication Number Publication Date
EP0647574A1 EP0647574A1 (fr) 1995-04-12
EP0647574B1 EP0647574B1 (fr) 1997-07-23
EP0647574B2 true EP0647574B2 (fr) 2001-08-16

Family

ID=19862970

Family Applications (1)

Application Number Title Priority Date Filing Date
EP94202875A Expired - Lifetime EP0647574B2 (fr) 1993-10-06 1994-10-05 Dispositif pour vider des poubelles dans la benne d'un véhicule de ramassage

Country Status (4)

Country Link
EP (1) EP0647574B2 (fr)
DE (1) DE69404411T3 (fr)
ES (1) ES2105495T5 (fr)
NL (1) NL9301719A (fr)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL1007388C2 (nl) * 1997-10-29 1999-05-04 Exploitatiemaatschappij De Ber Werkwijze en inrichting voor het bepalen van de massa van een gestorte inhoud van een afvalhouder.
NL1007724C2 (nl) * 1997-12-08 1999-06-09 Geesink Bv Afvalinzamelvoertuig met zijbeladingsinrichting, voorzien van camerabewaking.
DE19819646A1 (de) * 1998-05-05 1999-11-11 Entlog Entsorgung Und Logistik Sammelfahrzeug für Abfälle und Wertstoffe
DE19820143C1 (de) 1998-05-06 2000-01-13 Zoeller Kipper Entleervorrichtung für Müllbehälter mit einer Lageerkennungs- und Steuereinrichtung
NL1010751C2 (nl) * 1998-12-07 2000-06-19 Bammens Bv Systeem, vrachtautomobiel en verzamelhouder voor het verzamelen van huishoudelijk afval.
IT1316898B1 (it) * 2000-03-29 2003-05-13 Filippo Barbaro Sistema per la raccolta differenziata di rifiuti solidi urbani.
NL1019250C1 (nl) * 2001-10-29 2003-05-01 Terberg Machines Vuilophaalsysteem.
AU2010306411A1 (en) * 2009-10-16 2012-05-03 University Of Technology, Sydney Waste receptacle
BR112014008508B1 (pt) * 2011-10-10 2021-01-12 Volvo Group North America, Llc sistema de controle de veículo de resíduo e método de controle de um veículo de resíduo
DE102012006538B4 (de) * 2012-04-02 2019-08-22 Roland Skrypzak Entsorgungsfahrzeug mit zumindest einer Zuführungseinrichtung für Behälter

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3142227A1 (de) † 1981-10-24 1983-05-11 Friedrich Kampwerth Maschinenfabrik, 4518 Bad Laer "verfahren und vorrichtung zur aufnahme und entleerung von muellbehaeltern"
DE3332059A1 (de) † 1983-09-06 1985-03-21 Bartholomäus 6145 Lindenfels Bitsch Muellbehaelter fuer automatische entleerung
DE3332058A1 (de) † 1983-09-06 1985-03-21 Bartholomäus 6145 Lindenfels Bitsch Greif-, hub- und kippeinrichtung zur automatischen entleerung von muellbehaeltern
EP0511941A1 (fr) † 1991-04-30 1992-11-04 Maschinenfabrik Rieter Ag Dispositif pour la commande d'une installation de filature ou d'un métier à filer

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3903592A1 (de) * 1989-02-07 1990-08-09 Proteus Ges Fuer Datentechnik Verfahren und vorrichtung zum bestimmen und zuordnen von zu entsorgenden abfallmengen
DE3909762C2 (de) * 1989-03-23 2003-02-06 Msts Logistik Gmbh & Co Müllsammelsystem mit einem Müllsammelfahrzeug und Müllbehältern

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3142227A1 (de) † 1981-10-24 1983-05-11 Friedrich Kampwerth Maschinenfabrik, 4518 Bad Laer "verfahren und vorrichtung zur aufnahme und entleerung von muellbehaeltern"
DE3332059A1 (de) † 1983-09-06 1985-03-21 Bartholomäus 6145 Lindenfels Bitsch Muellbehaelter fuer automatische entleerung
DE3332058A1 (de) † 1983-09-06 1985-03-21 Bartholomäus 6145 Lindenfels Bitsch Greif-, hub- und kippeinrichtung zur automatischen entleerung von muellbehaeltern
EP0511941A1 (fr) † 1991-04-30 1992-11-04 Maschinenfabrik Rieter Ag Dispositif pour la commande d'une installation de filature ou d'un métier à filer

Also Published As

Publication number Publication date
DE69404411D1 (de) 1997-09-04
EP0647574A1 (fr) 1995-04-12
NL9301719A (nl) 1995-05-01
ES2105495T5 (es) 2002-02-01
DE69404411T2 (de) 1997-12-11
ES2105495T3 (es) 1997-10-16
DE69404411T3 (de) 2001-10-18
EP0647574B1 (fr) 1997-07-23

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