EP3118141B1 - Systeme de securite destine a securiser un trajet de levage/basculement d'un systeme de chargement et un procede associe - Google Patents

Systeme de securite destine a securiser un trajet de levage/basculement d'un systeme de chargement et un procede associe Download PDF

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Publication number
EP3118141B1
EP3118141B1 EP16179561.2A EP16179561A EP3118141B1 EP 3118141 B1 EP3118141 B1 EP 3118141B1 EP 16179561 A EP16179561 A EP 16179561A EP 3118141 B1 EP3118141 B1 EP 3118141B1
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European Patent Office
Prior art keywords
loading
sensor
container
security system
monitoring area
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EP16179561.2A
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German (de)
English (en)
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EP3118141A1 (fr
Inventor
Jan Paul Versteeg
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Terberg Machines BV
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Terberg Machines BV
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    • 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

Definitions

  • the present invention relates to a security system with which a lifting-tilting path of a loading system is safeguarded.
  • a loading system is used particularly for emptying containers such as bins into a collector, for instance a refuse truck.
  • 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.
  • 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.
  • 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.
  • 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.
  • the senor is connected in use to an inward travel guide of a loading system moving together with the loading seat.
  • 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.
  • the senor 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.
  • the senor 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.
  • the senor comprises an ultrasonic sensor.
  • 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.
  • 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.
  • the senor comprises a camera.
  • the 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.
  • 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.
  • 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.
  • 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.
  • the loading system can handle containers, in particular 2-wheel bins, for instance with a volume of 120-360 litres.
  • 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.
  • 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.
  • 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.
  • 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.
  • sensors 14 are arranged on or close to inward travel guide 32 ( figures 2A-C ).
  • sensors 14 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 ⁇ 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.
  • 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.
  • 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 ⁇ with a horizontal line extending in the longitudinal direction of comb 34. In the shown embodiment ⁇ 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 ⁇ with the horizontal 52 which substantially corresponds to the plane formed by the upper side of cover 50. In the shown embodiment the angle ⁇ is about 2°.
  • 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.
  • 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.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Refuse-Collection Vehicles (AREA)
  • Jib Cranes (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)

Claims (11)

  1. Système de sécurité (12) pour protéger un trajet de levage/inclinaison (38) d'un système de chargement doté d'au moins un siège de chargement (8) pour vider un conteneur (40) dans un collecteur (4), le système de sécurité comprenant :
    - un capteur (14) avec une zone de surveillance (36) configuré pour détecter des objets (P) dans la zone de surveillance durant un mouvement du siège de chargement durant un vidage du conteneur dans le collecteur ; et
    - un système d'alarme (43) connecté fonctionnellement au capteur pour réaliser directement ou indirectement un blocage du mouvement du siège de chargement,
    dans lequel la zone de surveillance du capteur comprend au moins en partie le trajet de levage/inclinaison du conteneur durant le mouvement du conteneur dans le siège de chargement,
    caractérisé en ce que le capteur est connecté en utilisation à un guide de déplacement vers l'intérieur (32) du système de chargement de sorte que le capteur bouge en même temps que le siège de chargement durant le mouvement de levage/inclinaison, de sorte que la zone de surveillance soit positionnée au-dessus de la surface supérieure du conteneur et comprenne au moins une partie du trajet de levage/inclinaison (38) du conteneur, dans lequel le capteur est monté en utilisation sur le guide de déplacement vers l'intérieur (32) à une hauteur au-dessus du conteneur, et
    dans lequel le capteur, avant qu'un levage/inclinaison du conteneur ne commence, est positionné de sorte qu'un milieu de la zone de surveillance se trouve à un angle (δ) par rapport à un plan horizontal, dans lequel l'angle se trouve dans la plage de 0° à 10°.
  2. Système de sécurité selon la revendication 1, dans lequel le capteur est positionné de sorte qu'un milieu (48) de la zone de surveillance se trouve à un angle (γ) par rapport à la largeur du siège de chargement, dans lequel l'angle se trouve dans la plage de 40° à 80°, de préférence dans la plage de 55° à 75°, et de manière préférée entre toutes s'élève à environ 65°.
  3. Système de sécurité selon une ou plusieurs des revendications précitées, dans lequel l'angle (δ) se trouve dans la plage de 0° à 5°, et de préférence s'élève à environ 2°.
  4. Système de sécurité selon une ou plusieurs des revendications précitées, dans lequel la zone de surveillance est fonctionnelle dans un plan vertical sur un angle d'inclinaison dans la plage de 0° à 90°, de préférence 30° à 90° durant un vidage du conteneur dans le collecteur.
  5. Système de sécurité selon une ou plusieurs des revendications précitées, dans lequel le capteur comprend un capteur ultrasonore.
  6. Système de sécurité selon une ou plusieurs des revendications précitées, dans lequel le capteur comprend une caméra (22).
  7. Système de sécurité selon une ou plusieurs des revendications précitées, comprenant en outre un second capteur (14) pour un second siège de chargement du système de chargement, dans lequel le second capteur (14) est connecté fonctionnellement au système d'alarme (43).
  8. Système de chargement (6) comprenant au moins un siège de chargement doté d'un système de sécurité (12) selon une ou plusieurs des revendications précitées.
  9. Système de chargement selon la revendication 8, dans lequel la zone de surveillance (36) du capteur est configurée pour accueillir des conteneurs (40) avec un volume dans la plage de 120 à 360 litres.
  10. Véhicule (2) doté d'un collecteur, un système de sécurité (12) et un système de chargement (6) selon une ou plusieurs des revendications précitées.
  11. Procédé pour protéger une zone de surveillance (36) avec un système de sécurité (12) durant un vidage d'un conteneur (40) dans un collecteur (4), comprenant les étapes consistant à :
    - doter un système de chargement (6) d'un système de sécurité selon une ou plusieurs des revendications précitées, dans lequel le système de chargement est en outre doté d'au moins un siège de chargement (8), dans lequel la zone de surveillance du capteur (14) comprend au moins en partie le trajet de levage/inclinaison (38) du conteneur durant le mouvement du conteneur dans le siège de chargement ; et
    - faire bouger le conteneur dans le siège de chargement et protéger la zone de surveillance en faisant bouger le capteur en même temps que le siège de chargement durant le mouvement de levage/inclinaison.
EP16179561.2A 2015-07-14 2016-07-14 Systeme de securite destine a securiser un trajet de levage/basculement d'un systeme de chargement et un procede associe Active EP3118141B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
NL2015164A NL2015164B1 (nl) 2015-07-14 2015-07-14 Bewakingssysteem voor het bewaken van een hef-kanteltraject van een beladingssysteem, en werkwijze daarvoor.

Publications (2)

Publication Number Publication Date
EP3118141A1 EP3118141A1 (fr) 2017-01-18
EP3118141B1 true EP3118141B1 (fr) 2022-07-06

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Country Status (7)

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EP (1) EP3118141B1 (fr)
DK (1) DK3118141T3 (fr)
ES (1) ES2924484T3 (fr)
LT (1) LT3118141T (fr)
NL (1) NL2015164B1 (fr)
PL (1) PL3118141T3 (fr)
PT (1) PT3118141T (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6938080B2 (ja) * 2017-03-17 2021-09-22 新明和工業株式会社 塵芥収集車およびこれに装備された人物認識装置
JP2018154463A (ja) * 2017-03-17 2018-10-04 新明和工業株式会社 塵芥収集車およびこれに装備された緊急停止装置
CN109739115A (zh) * 2019-01-11 2019-05-10 郑州宇通重工有限公司 上料机构安全控制方法和系统及使用该系统的作业车辆
DE102019113507A1 (de) * 2019-05-21 2020-11-26 Zöller-Kipper GmbH Sammelbehälter, Müllfahrzeug und Verfahren zur Überwachung eines Beschickungsbereichs
CN111348354A (zh) * 2020-03-30 2020-06-30 徐州徐工环境技术有限公司 垃圾车自动上料机构安全保护方法

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Publication number Priority date Publication date Assignee Title
NL1003535C2 (nl) * 1996-07-08 1998-01-12 Geesink Bv Afvalinzamelvoertuig voorzien van beveiligingsmiddelen.
DE102005023154A1 (de) * 2004-05-14 2005-12-08 Schneider Systemtechnik Gmbh Müllbehälter-Lifter mit Hinterraum-Überwachung
NL2008407C2 (nl) * 2012-03-05 2013-09-09 Terberg Machines Bewakingsinrichting voor het bewaken van een werkgebied, een beladingsysteem en voertuig voorzien daarvan, en werkwijze daarvoor.

Also Published As

Publication number Publication date
PT3118141T (pt) 2022-10-17
ES2924484T3 (es) 2022-10-07
PL3118141T3 (pl) 2022-10-03
LT3118141T (lt) 2022-09-12
NL2015164B1 (nl) 2017-02-01
EP3118141A1 (fr) 2017-01-18
DK3118141T3 (da) 2022-08-01

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