EP3483092B1 - Camion à ordures - Google Patents

Camion à ordures Download PDF

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Publication number
EP3483092B1
EP3483092B1 EP17382767.6A EP17382767A EP3483092B1 EP 3483092 B1 EP3483092 B1 EP 3483092B1 EP 17382767 A EP17382767 A EP 17382767A EP 3483092 B1 EP3483092 B1 EP 3483092B1
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EP
European Patent Office
Prior art keywords
hopper
refuse
volume
interior
modulated light
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.)
Active
Application number
EP17382767.6A
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German (de)
English (en)
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EP3483092A1 (fr
Inventor
Francisco Soriano Alfonso
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.)
Dennis Eagle Ltd
Original Assignee
Dennis Eagle Ltd
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Filing date
Publication date
Application filed by Dennis Eagle Ltd filed Critical Dennis Eagle Ltd
Priority to EP17382767.6A priority Critical patent/EP3483092B1/fr
Priority to ES17382767T priority patent/ES2945868T3/es
Publication of EP3483092A1 publication Critical patent/EP3483092A1/fr
Application granted granted Critical
Publication of EP3483092B1 publication Critical patent/EP3483092B1/fr
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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
    • B65F3/14—Vehicles particularly adapted for collecting refuse with devices for charging, distributing or compressing refuse in the interior of the tank of a refuse vehicle
    • B65F3/20—Vehicles particularly adapted for collecting refuse with devices for charging, distributing or compressing refuse in the interior of the tank of a refuse vehicle with charging pistons, plates, or the like
    • 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
    • B65F3/14—Vehicles particularly adapted for collecting refuse with devices for charging, distributing or compressing refuse in the interior of the tank of a refuse vehicle
    • B65F2003/146—Sensors, e.g. pressure sensors

Definitions

  • the present disclosure relates garbage trucks for collecting refuse.
  • Garbage trucks are widely used for collecting, compacting and transporting refuse such as solid urban waste.
  • US20140348621 discloses a garbage truck comprising a truck body, a hopper formed inside the truck body and adapted to receive refuse therein, a compactor comprising a blade movably mounted within the hopper, and a mechanism to lift refuse containers and unload their contents into the hopper.
  • the compactor may consist of a hydraulic press provided inside the hopper and arranged to press the refuse therein.
  • the present disclosure relates to a garbage truck with which the above need is met and with which additional advantages are further obtained.
  • the present disclosure finds application in a wide range of garbage trucks such as of the rear-loader, side-loader type, etc.
  • a garbage truck comprising a hopper into which refuse is manually or mechanically loaded and collected, and a compactor for compacting the refuse that is inside the hopper.
  • refuse includes any kind of garbage, trash, litter, rubbish, etc. and any matter to be discarded.
  • the machine vision means comprise a source of modulated light, a camera sensor, and means for periodically generating geometries corresponding to the interior of the hopper. Since said geometries can be advantageously used for determining relevant characteristics of the refuse in the hopper, a volume of refuse in the hopper can be quantitatively and qualitatively determined.
  • the source of modulated light is suitable for projecting a beam of modulated light, such as infrared light, for illuminating a volume in the interior of the hopper.
  • a beam of modulated light such as infrared light
  • the source of modulated light may be configured to provide a beam of light defining the shape of a cone, or a square based pyramid, or a rectangular based pyramid. Other shapes and combinations of shapes are of course not ruled out.
  • Said shaped light beam is such that the refuse, where it is present in the hopper, will be at least partially enclosed therein.
  • the camera sensor is arranged at one vertex of said cone or pyramid defined by the light beam.
  • the camera sensor is connected to the source of modulated light and arranged for receiving light that is reflected by the hopper, or by the refuse placed therein. This allows distances from the camera sensor to different points in the hopper to be determined based of a time-of-flight principle (ToF). Based on this principle, distances from the camera sensor to different points in the hopper are accurately determined based on time difference between the emission of modulated light and its return to the camera sensor.
  • TOF time-of-flight principle
  • the means for periodically generating geometries corresponding to the interior of the hopper allows geometries to be generated from said determined distances so as to determine a volume of refuse that is present in the interior of the hopper, from relevant characteristics of the refuse in the hopper such as the amount (e.g. weight) of refuse in the hopper, the shape of a volume of the refuse in the hopper, the distribution of the refuse in the hopper, etc. can be determined.
  • the means for periodically generating geometries are also capable of generating geometries of the interior of the hopper even in the case where refuse is not present.
  • a control unit is also provided.
  • the control unit is connected to the machine vision means, and it is configured for monitoring an area of the interior of the hopper so as to determine a volume of refuse that is present in the interior of the hopper.
  • the control unit allows the above mentioned relevant characteristics of the refuse in the hopper, if present, to be determined.
  • the compactor can be thus efficiently controlled by the control unit according to a given operating mode depending on volume, and/or shape and/or distribution of the refuse present in the hopper, that is, depending on at least one of the above mentioned relevant characteristics of the refuse that is present in the hopper.
  • the geometry generating means are suitable for periodically generating three-dimensional geometries corresponding to the interior of the hopper.
  • bi-dimensional geometries can be also generated as required.
  • the present disclosure further relates to a method for operating a garbage truck of the above type, that is, comprising a hopper for collecting refuse and a compactor for compacting the refuse.
  • the present method comprises the following steps.
  • An interior of the hopper in the garbage truck is illuminated with modulated light.
  • a beam of modulated light such as infrared light is projected towards the interior of the hopper.
  • Said projected beam of modulated light defines a volume in the shape of a cone, or a square based pyramid, or a rectangular based pyramid as described above. Other shapes are not ruled out as long as they are suitable for at least partially enclosing refuse present in the hopper.
  • a mathematic model is generated corresponding to a bi-dimensional or a three-dimensional geometry of the interior of the hopper under a given hopper loading condition, such as for example when no refuse is present in the hopper, for conveniently calibrating the machine vision means, or when at least an amount of refuse is present in the hopper.
  • a volume of refuse present in the hopper can be then determined according to said mathematic model of the interior of the hopper. If a determined volume of refuse present in the hopper meets a predetermined condition, the compactor is actuated according to one mode of operation, such as automatic-cycle, manual-cycle, or semi-automatic-cycle, etc. If a determined volume of refuse present in the hopper does not meet said predetermined condition, the compactor is disabled.
  • predetermined conditions may include exceeding a predetermined threshold (e.g. a refuse volume threshold) or a predetermined refuse distribution associated to the presence of strange elements in the hopper.
  • Said threshold of determined volume of refuse present in the hopper may be constant or variable.
  • Other examples of predetermined conditions may also include the refuse distribution in the hopper.
  • a refuse distribution in the hopper is identified by the control unit to be strange such that it can be associated for example to the presence of strange elements, such as living beings, persons, furniture, demolition waste etc. the compactor is enabled to operate according to a mode in which it is manually operated by an operator.
  • Other predetermined conditions for operating the compactor are of course possible.
  • the present garbage truck and operating method thereof allow energy consumption to be advantageously reduced since the compactor is only operated as necessary. As a result, generation and emission of pollutants as well as noise are advantageously reduced. In addition, wearing of associated mechanic parts such as parts of the compactor, the engine, power take off etc. is also reduced.
  • a rear-loader garbage truck is illustrated which has been denoted as a whole by reference numeral 100.
  • the present disclosure is of course applicable in many other types of garbage trucks such as for example of the front-loader or side-loader type.
  • the garbage truck 100 comprises a truck body 110 with a hopper 200 installed at the rear of the garbage truck 100 defining an interior volume 210 for receiving refuse.
  • the garbage truck 100 further includes a hydraulically powered tailgate 540, and a mechanism 300 to lift refuse containers (not shown) and unload their contents into the hopper 200.
  • a compactor 400 is also provided comprising a hydraulic press suitable for compacting the refuse therein.
  • machine vision means 500 are provided.
  • the machine vision means 500 are suitably configured for generating bi-dimensional or three-dimensional geometries of the interior 210 of the hopper 200. From said generated geometries, a volume of refuse that is present in the hopper 200 can be accurately determined. From the volume of refuse that is determined, relevant features thereof such as amount, for example weight of refuse in the hopper, the shape of a volume of refuse in the hopper, the distribution of the refuse in the hopper, and even changes in the position of the refuse can be obtained.
  • the machine vision means 500 in the example shown in the drawings comprise a source of infrared light 510 and a camera sensor 520.
  • the camera sensor 520 in the example shown in figures 3-7 of the drawings is arranged at the vertex of a cone defined by a light beam 530 that is projected by the source of infrared light 510.
  • Other shapes and combinations of shapes of the light beam 530 such as square based pyramid, or rectangular based pyramid are also possible.
  • the camera sensor 520 may be mounted in different positions in the garbage truck 100.
  • the camera sensor 520 is mounted on the tailgate 540 of the garbage truck 100.
  • the camera sensor 520 is mounted on a central part of a tailgate 540 of the garbage truck 100.
  • the camera sensor 520 is mounted on a lower part of a tailgate 540 of the garbage truck 100.
  • Figures 5-7 show examples where the camera sensor 520 is mounted on a left-hand, central and right-hand upper parts of a tailgate 540 of the garbage truck 100, respectively.
  • Other locations for the camera sensor 520 are possible as long as refuse in the interior 210 of the hopper 200, if present, can be at least partially illuminated.
  • the camera sensor 520 is connected to the source of infrared light 510.
  • the source of infrared light 510 is configured to project said cone shaped beam of infrared light 530 towards the interior 210 of the hopper 200.
  • the light beam 530 projected by the source of infrared light 510 towards the interior 210 of the hopper 200 is reflected by the hopper 200 itself or by surfaces of any refuse matter present therein into the camera sensor 520.
  • Means are also provided for periodically generating geometries corresponding to the interior 210 of the hopper 200 based on light projected by the source of infrared light 510.
  • the hopper geometry generating means together with the camera sensor 520, connected to the source of infrared light 510, allows distances from the camera sensor 520 to different points in the hopper 200 to be accurately determined. This is carried out through a time-of-flight principle (ToF) using a time difference between the emission of infrared light towards the interior 210 of the hopper 200 and its return to the camera sensor 520.
  • ToF time-of-flight principle
  • the present garbage truck 100 further includes a control unit 600 that is connected to the machine vision means 500.
  • the control unit is configured for monitoring an area of the interior 210 of the hopper 200 so as to determine a volume of refuse that is present therein.
  • geometries corresponding to the interior 210 of the hopper 200 can be accurately generated.
  • the obtained geometries of the interior 210 of the hopper 200 allow a volume of refuse in the interior 210 of the hopper 200 to be quantitatively and qualitatively determined.
  • Quantitatively and qualitatively determining geometries of the interior 210 of the hopper 200 whether refuse is present or not involves obtaining information on relevant characteristics of the refuse in the hopper 200 such as amount, for example weight of refuse in the hopper 200, shapes of volume of refuse in the hopper 200, distributions of refuse in the hopper 200, and even changes in the position of refuse in the hopper 200.
  • Other ant characteristics of the refuse in the hopper 200 can be also determined through the machine vision means 500.
  • the compactor 400 can be then controlled by the control unit 600 according to a given operating mode.
  • the obtained geometries of the interior 210 of the hopper 200 can be shown to an operator through a display (not shown) or suitable equipment, for example remotely.
  • the relevant characteristics of the refuse that is present in the interior 210 of the hopper 200 can be received both by the control unit 600 and the operator in order to automatically and/or manually operate the compactor 400 accordingly.
  • the source of infrared light 510 projects a cone shaped beam 530 of infrared light as shown in figures 3-7 for illuminating the interior of the hopper 200 of the garbage truck 100.
  • Distances from the camera sensor 520 to different points of the interior 210 of the hopper 200 are calculated by the machine vision means 500 based on time difference between the emission of modulated light (infrared light in this example) and its return to the camera sensor 520.
  • This mathematic model corresponds to bi-dimensional or three-dimensional geometries of the interior 210 of the hopper 200.
  • This operation is first carried out in a first step 1000 for an empty condition of the hopper 200, that is, when no refuse is present in the hopper 200, so as to suitably calibrate the machine vision means 500.
  • step 1010 additional distances from the camera sensor 520 to different points of the interior 210 of the hopper 200 are subsequently and periodically measured by the machine vision means 500 while the compactor 400 can be in use.
  • Volume differentials are then calculated relating to refuse left in the hopper 200 from which a volume of refuse present in the hopper 200 can be determined according to said geometries of the interior 210 of the hopper 200. Said volume of refuse in the hopper 200 can be then quantitatively and qualitatively determined, that is, not only amounts of refuse present in the hopper 200 can be calculated but also shapes and distributions of refuse in the hopper 200, etc.
  • a volume of refuse present in the interior 210 of the hopper 200 is compared with a predetermined threshold, such as for example amount, weight, volume, and the like. If a volume of refuse present in the interior 210 of the hopper 200 does not exceed a predetermined threshold, then the compactor 400 is disabled according to step 1030. If a volume of refuse present in the interior 210 of the hopper 200 exceeds a predetermined threshold, then a step 1040 is performed.
  • a predetermined threshold such as for example amount, weight, volume, and the like.
  • a volume of refuse present in the interior 210 of the hopper 200 is analysed for determining whether a profile of a volume of refuse in the hopper 200 is considered normal. If the profile of a volume of refuse in the hopper 200 is considered to have a normal distribution, for example when compared to a predetermined volume profile whose distribution is considered notmal, then a step 1050 is performed in which the compactor 400 is operated either automatically or manually by an operator, according to a specific mode of operation, such as automatic-cycle, manual-cycle, or semi-automatic-cycle.
  • a step 1060 is performed in which the compactor 400 is automatically set by the control unit 600 according to a mode in which it is manually operated by an operator.
  • the step 1010 may be repeated for periodically performing additional distances from the camera sensor 520 to different points of the interior 210 of the hopper 200.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Refuse Collection And Transfer (AREA)
  • Refuse-Collection Vehicles (AREA)
  • Loading Or Unloading Of Vehicles (AREA)
  • Filters For Electric Vacuum Cleaners (AREA)

Claims (7)

  1. Camion à ordures (100) comprenant une trémie (200) pour collecter des déchets, un compacteur (400) pour compacter des déchets à l'intérieur de la trémie (200), un moyen de vision industrielle (500), et une unité de commande (600) reliée au moyen de vision industrielle (500) et configurée pour surveiller une zone de l'intérieur (210) de la trémie (200) de manière à déterminer un volume de déchets présent à l'intérieur de la trémie (200) pour commander le compacteur (400) selon un mode de fonctionnement donné en fonction du volume de déchets présent dans la trémie (200), caractérisé en ce que le moyen de vision industrielle (500) comprend :
    - une source de lumière modulée (510) agencée pour éclairer un volume à l'intérieur (210) de la trémie (200) avec de la lumière modulée ;
    - un capteur de caméra (520) connecté à la source de lumière modulée (510) et agencé pour recevoir de la lumière réfléchie par la trémie (200) de manière à déterminer des distances du capteur de caméra (520) à de différents points dans la trémie (200) sur la base d'une différence de temps entre l'émission de lumière modulée et son retour vers le capteur de caméra (520) ; et
    - un moyen (540) pour générer de façon périodique des géométries tridimensionnelles correspondant à l'intérieur (210) de la trémie (200) à partir desdites distances déterminées de manière à déterminer un volume de déchets présents dans la trémie (200),
    dans lequel l'unité de commande (600) est configurée pour régler automatiquement le compacteur (400) pour qu'il fonctionne selon un mode dans lequel il est actionné manuellement par un opérateur lorsqu'un profil d'un volume de déchets dans la trémie (200) est considéré comme n'ayant pas une distribution normale, associée à la présence d'éléments étranges dans la trémie (200).
  2. Camion à ordures (100) selon la revendication 1, dans lequel la source de lumière modulée (510) est configurée pour fournir un faisceau lumineux sous la forme d'un cône, ou d'une pyramide à base carrée, ou d'une pyramide à base rectangulaire.
  3. Camion à ordures (100) selon l'une quelconque des revendications précédentes, dans lequel la source de lumière modulée (510) est configurée pour projeter de la lumière infrarouge.
  4. Un procédé pour faire fonctionner un camion à ordures (100), le camion à ordures (100) comprenant une trémie (200) pour collecter des déchets et un compacteur (400) pour compacter les ordures, caractérisé en ce que le procédé comprend les étapes consistant à
    - éclairer un intérieur (210) de la trémie (200) avec de la lumière modulée ;
    - mesurer des distances d'un capteur de caméra (520) à de différents points à l'intérieur de la trémie (200) sur la base d'une différence de temps entre l'émission de lumière modulée et son retour vers le capteur de caméra (520) ;
    - générer de façon périodique, à partir desdites distances mesurées, un modèle mathématique correspondant à une géométrie tridimensionnelle de l'intérieur (210) de la trémie (200) dans une condition de chargement de trémie donnée ;
    - déterminer un volume de déchets présents à l'intérieur (210) de la trémie (200) selon ledit modèle mathématique de l'intérieur (210) de la trémie (200) ;
    - si un profil d'un volume de déchets dans la trémie (200) est considéré comme n'ayant pas une distribution normale, associée à la présence d'éléments étranges dans la trémie (200), le compacteur (400) est actionné selon un mode dans lequel il est actionné manuellement par un opérateur.
  5. Le procédé de la revendication 4, dans lequel la source de lumière modulée (510) est configurée pour projeter de la lumière modulée définissant un volume sous la forme d'un cône, ou d'une pyramide à base carrée, ou d'une pyramide à base rectangulaire.
  6. Le procédé de l'une quelconque des revendications 4 à 5, dans lequel un seuil de volume déterminé de déchets présents à l'intérieur (210) de la trémie (200) est constant ou variable.
  7. Le procédé de l'une quelconque des revendications 4 à 6, dans lequel ladite condition de chargement de trémie donnée n'implique pas de déchets présents dans la trémie (200), ou au moins une quantité de déchets présents dans la trémie (200).
EP17382767.6A 2017-11-13 2017-11-13 Camion à ordures Active EP3483092B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP17382767.6A EP3483092B1 (fr) 2017-11-13 2017-11-13 Camion à ordures
ES17382767T ES2945868T3 (es) 2017-11-13 2017-11-13 Camión de basura

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP17382767.6A EP3483092B1 (fr) 2017-11-13 2017-11-13 Camion à ordures

Publications (2)

Publication Number Publication Date
EP3483092A1 EP3483092A1 (fr) 2019-05-15
EP3483092B1 true EP3483092B1 (fr) 2023-03-22

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EP17382767.6A Active EP3483092B1 (fr) 2017-11-13 2017-11-13 Camion à ordures

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EP (1) EP3483092B1 (fr)
ES (1) ES2945868T3 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA3107756A1 (fr) 2018-07-27 2020-01-30 The Heil Co. Analyse de contamination de dechets
RU194210U1 (ru) * 2019-09-24 2019-12-03 Открытое Акционерное Общество "Ряжский Авторемонтный Завод" Мусоровоз
US11766941B2 (en) * 2020-10-15 2023-09-26 Oshkosh Corporation Refuse vehicle with electric chassis
EP4241975A1 (fr) 2022-03-08 2023-09-13 Palvi, S.L. Procédé et appareil de compactage de déchets et véhicule comprenant ledit appareil

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9105772U1 (de) * 1991-05-10 1991-09-12 Faun Umwelttechnik GmbH, 8500 Nürnberg Vorrichtung zum Beladen eines Schüttgut-Sammelbehälters, insbesondere eines Müllwagen-Sammelbehälters
NL1021451C2 (nl) * 2002-09-13 2004-03-16 Terberg Machines Voertuig met container hef- en kantelinrichting.
US20140348621A1 (en) 2013-05-21 2014-11-27 David J. Brisson Split Body Rear Load Refuse Truck
EP4016981A3 (fr) * 2013-12-24 2022-09-21 Sony Depthsensing Solutions Système de caméra à capture de la durée de déplacement de la lumière

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Publication number Publication date
ES2945868T3 (es) 2023-07-10
EP3483092A1 (fr) 2019-05-15

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