EP0963923B1 - Véhicule de ramassage d'ordures avec dispositif de levage-basculage latéral - Google Patents

Véhicule de ramassage d'ordures avec dispositif de levage-basculage latéral Download PDF

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Publication number
EP0963923B1
EP0963923B1 EP99105551A EP99105551A EP0963923B1 EP 0963923 B1 EP0963923 B1 EP 0963923B1 EP 99105551 A EP99105551 A EP 99105551A EP 99105551 A EP99105551 A EP 99105551A EP 0963923 B1 EP0963923 B1 EP 0963923B1
Authority
EP
European Patent Office
Prior art keywords
sensor
pick
refuse
lifting
collection vehicle
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
EP99105551A
Other languages
German (de)
English (en)
Other versions
EP0963923A3 (fr
EP0963923A2 (fr
Inventor
Roland Prof.Dr.Ing.Habil. Strietzel
Edgar Dipl.-Ing. Kolbe
Jörg Dipl.-Ing. Ehrich
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.)
Faun Umwelttechnik and Co KG GmbH
Original Assignee
Faun Umwelttechnik and Co KG GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Faun Umwelttechnik and Co KG GmbH filed Critical Faun Umwelttechnik and Co KG GmbH
Publication of EP0963923A2 publication Critical patent/EP0963923A2/fr
Publication of EP0963923A3 publication Critical patent/EP0963923A3/fr
Application granted granted Critical
Publication of EP0963923B1 publication Critical patent/EP0963923B1/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
    • 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
    • B65F3/041—Pivoted arms or pivoted carriers
    • B65F3/046—Pivoted arms or pivoted carriers with additional means for assisting the tipping of the receptacle after or during raising
    • 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
    • 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
    • B65F2003/0269—Constructional features relating to discharging means capable of moving along the side 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
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F2003/0263—Constructional features relating to discharging means
    • B65F2003/0276—Constructional features relating to discharging means capable of moving towards or away from the vehicle

Definitions

  • the invention relates to a refuse collection vehicle with a side-mounted tilting device for receiving a waste container via a receiving device, wherein the lifting and tipping device with the receiving device away from the vehicle is extendable (X direction), can be lifted in relation to the vehicle (Y direction) and can be moved in the longitudinal direction of the vehicle (Z direction).
  • the refuse collection vehicle should drive as close as possible to the refuse container be so that the lifting and tipping device is in front of the waste container. Subsequently the driver pushes the joystick to the right to the dumping device approx. 15-25 cm towards the waste bin. The joystick must then move pulled at the rear to raise the lift and tilt device. If the Receiving device on the lifting and tipping device approaches the edge of the waste container, can the lift and tilt device via a corresponding toggle switch that on the joystick is centered. If the lifting and tipping device Has picked up the waste container, the joystick is held in the reverse position until the Garbage container has been lifted off the ground to retract the lifting and tipping device without making contact with the ground.
  • the joystick is then pushed to the left, to retract the dumping device with the waste container. simultaneously the pouring device is moved in the middle position to the hopper. The The joystick is then pulled back to raise and into the bin to empty the funnel. The joystick is then pushed forward to lower the waste bin just before the floor. The funnel area be carefully observed to ensure that the garbage container is complete is emptied. The joystick must then be pushed to the right to the lift and tilt device extend and thus transport the garbage container back. The joystick is then pushed forward to place the waste bin on the Lower ground. Finally, the joystick is pushed to the left to the pouring device retract.
  • This manual control of the lifting and tipping device is comparatively complex and requires a high level of attentiveness and skill on the part of the operator. It is therefore desirable in a garbage collection vehicle of the generic type Way to automate the picking up, emptying and setting down of the waste container.
  • EP 388 618 A2 there is already a system for determining the position of a Garbage container known with the help of a video optical sensor. With this arrangement the location of a garbage container should already be detected so that it automatically be picked up via a corresponding lifting and tipping device can. For this, however, the garbage containers had to be retroreflective Brands are provided. This requires special equipment for the waste containers. In addition, the appropriate retroreflective brands pollute and thereby become inoperable.
  • the object of the invention is therefore a refuse collection vehicle of the generic type Art in such a way that it correspondingly via a lifting and tipping device can collect, empty and set down emptying waste bins, the Garbage containers do not require any special adjustment.
  • this task is based on a refuse collection vehicle according to the preamble of claim 1 by the additional characterizing Features of claim 1 solved.
  • a first sensor is arranged in the area of the receiving device, positioning by means of an emitted bundled sensor beam a garbage can in the vehicle's longitudinal direction by scanning the outer edge of the vessel is detectable and that a second sensor, namely, a wide-spreading ultrasonic sensor in the area of the recording device is arranged, via which the distance of the refuse container can be determined.
  • a second sensor namely, a wide-spreading ultrasonic sensor in the area of the recording device is arranged, via which the distance of the refuse container can be determined.
  • the key point of control and the automatic is the combined sensor system according to the invention, which i.e. especially the outer edges of the waste container, initially with a bundled one Scans the beam and after corresponding detection of the outer edge with a second sensor scans the front of the trash can to determine the distance determine.
  • the sensors are preferably in the area of the receiving device even arranged directly on the receiving device of the lifting and tipping device.
  • the signals from the sensors are processed and controlled by control units
  • the three axes i.e. controlled the X, Y and Z axes, until the receiving device, for example a receiving comb into the corresponding one Threads the receiving bag of the waste container.
  • the receiving device for example a receiving comb into the corresponding one Threads the receiving bag of the waste container.
  • Control or a control curve to be traversed can be the final approximation the receptacle on the front of the waste container can be facilitated.
  • the function of lifting the lifting and tipping device is usually done via a circular path due to the kinematics. With oversteer at the same time the "retract boom" function moves the comb vertically upwards with less Distance to the front wall of the waste container in the receiving pockets of the waste container. Then the waste container is locked, the boom is retracted, Lifting the lifting and tipping device to the tilting position, emptying the waste container, Swinging the garbage container back and setting it down in a known manner.
  • the first sensor can be a bundled optical sensor, preferably an infrared sensor his.
  • This bundled optical sensor is particularly inexpensive grasp the edge of the waste container to be picked up. Building this bundled optical sensor is known per se in the prior art.
  • a comb holder can preferably be provided as the receiving device be in a fixed distance ratio to the scanned outer edge of the Garbage container is arranged on the lifting and tipping device. This allows through corresponding detection of the outer edge of the comb in a simple manner and Drive into the corresponding storage pocket of the waste container.
  • An additional measuring system is particularly advantageously integrated, via which the emptied Garbage bin back to the original position from which it was picked up has been resettable.
  • the measuring system can have an evaluation device that contain the initial distance of the second sensor to the waste container (X direction) can evaluate.
  • a third sensor can also be provided the distance traveled by the receiving device in the longitudinal direction of the vehicle (Z direction) measures, here also an evaluation device is to be provided, this can evaluate recorded distance.
  • the waste container can be returned to its original receiving position be discontinued without the elaborate waste collection vehicle
  • Position sensors can be attached externally or internally in the hydraulic cylinders have to.
  • the lifting and tipping device 10 is, as shown in FIG. 1, on the side of a refuse collection vehicle 12 arranged. It is in the X direction via a boom 18 from Garbage collection vehicle 12 can be extended laterally. On the boom 18 is the lift and tilt device 10 with its swivel arm 20 and the receiving device arranged thereon 12 fixed. Serves as the receiving device 12 in the present case Example of a comb holder in a corresponding pocket 14 of a waste container 16 can intervene.
  • the structure of the lifting and tipping device corresponds For example, that according to EP 700 840 A1, on the content here can be referred.
  • the swivel arm 20 of the lifting and tilting device can be in the Y direction be moved.
  • 2 shows where the combined sensor system consisting of the first and second sensor in the area of the receiving device is arranged.
  • the cradle here from the crest 12 exists, is on the swivel arm 20 in the manner shown here and known per se and arranged way.
  • the second sensor is also arranged here, via which the Distance is recordable.

Landscapes

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

Claims (6)

  1. Véhicule de ramassage d'ordures avec dispositif de levage-basculage (10) monté latéralement, pour supporter un récipient à ordures par l'intermédiaire d'un dispositif support (12), le dispositif de levage-basculage étant déployable latéralement, en s'écartant du véhicule (direction X), avec le dispositif support, étant susceptible d'être levé par rapport au véhicule (direction Y) et étant déplaçable dans la direction longitudinale du véhicule (direction Z),
    caractérisé en ce que,
    dans la zone du dispositif support (12), est disposé un premier capteur, par l'intermédiaire duquel, au moyen d'une émission de rayon focalisé venant d'un capteur, le positionnement d'un récipient à ordures peut être appréhendé dans la direction longitudinale du véhicule, par palpage du bord extérieur du réceptacle et, en ce que, à titre de deuxième capteur, est disposé un capteur à ultrasons, à diffusion large, dans la zone du dispositif support, par l'intermédiaire duquel l'éloignement du récipient à ordures peut être déterminé.
  2. Véhicule de ramassage d'ordures selon la revendication 1, caractérisé en ce que le premier capteur est un capteur optique focalisé, de préférence un capteur d'infrarouge.
  3. Véhicule de ramassage d'ordures selon l'une des revendications 1 à 2, caractérisé en ce qu'est prévu, à titre de dispositif support (12), un support à peigne, disposé dans des conditions d'espacement fixe par rapport au bord extérieur, ayant été appréhendé, du récipient à ordures, sur le dispositif de levage-basculage.
  4. Véhicule de ramassage d'ordures selon l'une des revendications précédentes, caractérisé en ce que, par l'intermédiaire d'une courbe ou came de réglage, placée dans la commande automatique du dispositif de levage-basculage, le dispositif support (12) est d'abord déplaçable verticalement dans le but de supporter le récipient à ordures, jusqu'à ce que le dispositif support, par exemple le peigne, soit introduit dans la poche de logement correspondante du récipient à ordures.
  5. Véhicule de ramassage d'ordures selon l'une des revendications précédentes, caractérisé en ce qu'est intégré un système de mesure supplémentaire, par l'intermédiaire duquel le récipient à ordures ayant été vidé peut être retourné à la position initiale, d'où il a été emporté.
  6. Véhicule de ramassage d'ordures selon la revendication 5, caractérisé en ce que le système de mesure contient un dispositif d'évaluation, pouvant évaluer l'éloignement initial du deuxième capteur par rapport au réceptacle à ordures (direction X), en ce qu'est prévu un troisième capteur qui mesure l'éloignement, parcouru en direction longitudinale du véhicule, du dispositif support (direction Z) et, en ce qu'est prévu un dispositif d'évaluation qui peut évaluer cet éloignement, ayant été enregistré.
EP99105551A 1998-05-08 1999-03-18 Véhicule de ramassage d'ordures avec dispositif de levage-basculage latéral Expired - Lifetime EP0963923B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE29808379U 1998-05-08
DE29808379U DE29808379U1 (de) 1998-05-08 1998-05-08 Müllsammelfahrzeug mit seitlich angebrachter Hubkippvorrichtung

Publications (3)

Publication Number Publication Date
EP0963923A2 EP0963923A2 (fr) 1999-12-15
EP0963923A3 EP0963923A3 (fr) 2000-05-10
EP0963923B1 true EP0963923B1 (fr) 2004-06-02

Family

ID=8056920

Family Applications (1)

Application Number Title Priority Date Filing Date
EP99105551A Expired - Lifetime EP0963923B1 (fr) 1998-05-08 1999-03-18 Véhicule de ramassage d'ordures avec dispositif de levage-basculage latéral

Country Status (4)

Country Link
EP (1) EP0963923B1 (fr)
AT (1) ATE268302T1 (fr)
DE (2) DE29808379U1 (fr)
ES (1) ES2221253T3 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017004554A1 (de) * 2017-05-11 2018-11-15 Faun Umwelttechnik Gmbh & Co. Kg Wartungslogistiksystem für Müllsammelfahrzeuge

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29808379U1 (de) * 1998-05-08 1998-12-10 Faun Umwelttechnik Gmbh & Co Müllsammelfahrzeug mit seitlich angebrachter Hubkippvorrichtung
NL1011031C2 (nl) * 1999-01-14 2000-07-17 Geesink Bv Afvalinzamelvoertuig met zijbeladingsinrichting.
US8519837B2 (en) * 2005-09-08 2013-08-27 Johnson Controls Gmbh Driver assistance device for a vehicle and a method for visualizing the surroundings of a vehicle
DE102008013940A1 (de) * 2008-03-12 2009-09-17 Smarvice Systemtechnik Gmbh Lifter für einen Seitenlader
DE202009009365U1 (de) * 2009-04-20 2010-09-16 Faun Umwelttechnik Gmbh & Co. Kg Schüttvorrichtung für ein Entsorgungsfahrzeug
US10831201B2 (en) * 2011-10-10 2020-11-10 Volvo Truck Corporation Refuse vehicle control system and method of controlling a refuse vehicle
CN104118678A (zh) * 2014-06-03 2014-10-29 广西合浦县惠来宝机械制造有限公司 垃圾装载机构
CN108516263B (zh) * 2018-06-07 2023-09-12 河北工业大学 一种智能垃圾分类与回收装置
NL2024862B1 (nl) * 2020-02-07 2021-09-13 Terberg Machines Zijwaarts beladingssysteem voor het heffen en ledigen van een container, inzamelvoertuig voorzien daarvan en werwijze daarvoor

Family Cites Families (7)

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Publication number Priority date Publication date Assignee Title
DE3909762C2 (de) 1989-03-23 2003-02-06 Msts Logistik Gmbh & Co Müllsammelsystem mit einem Müllsammelfahrzeug und Müllbehältern
IT1250916B (it) 1990-06-26 1995-04-21 Antonicelli Spa Voltacontenitore per l'automatica presa di contenitori per rifiuti a tasche e per il rovesciamento degli stessi nel cassone di un autoveicolo
DE9414479U1 (de) 1994-09-07 1994-10-27 Faun Umwelttechnik Ag Hubvorrichtung für ein in ein Entsorgungsfahrzeug zu entleerendes Müll- und/oder Wertstoff-Gefäß
DE19510359A1 (de) * 1995-03-22 1996-09-26 Otto Geb Kg Vorrichtung zum automatischen Positionieren eines Schwenkarmes
DE19628140C1 (de) * 1996-07-12 1998-01-15 Zoeller Kipper Vorrichtung zum Ergreifen von Behältern
DE19820143C1 (de) * 1998-05-06 2000-01-13 Zoeller Kipper Entleervorrichtung für Müllbehälter mit einer Lageerkennungs- und Steuereinrichtung
DE29808379U1 (de) * 1998-05-08 1998-12-10 Faun Umwelttechnik Gmbh & Co Müllsammelfahrzeug mit seitlich angebrachter Hubkippvorrichtung

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017004554A1 (de) * 2017-05-11 2018-11-15 Faun Umwelttechnik Gmbh & Co. Kg Wartungslogistiksystem für Müllsammelfahrzeuge

Also Published As

Publication number Publication date
ATE268302T1 (de) 2004-06-15
ES2221253T3 (es) 2004-12-16
DE59909633D1 (de) 2004-07-08
EP0963923A3 (fr) 2000-05-10
DE29808379U1 (de) 1998-12-10
EP0963923A2 (fr) 1999-12-15

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