EP3972916A2 - Réservoir collecteur, camion à ordures et procédé de surveillance d'une zone de chargement - Google Patents

Réservoir collecteur, camion à ordures et procédé de surveillance d'une zone de chargement

Info

Publication number
EP3972916A2
EP3972916A2 EP20728453.0A EP20728453A EP3972916A2 EP 3972916 A2 EP3972916 A2 EP 3972916A2 EP 20728453 A EP20728453 A EP 20728453A EP 3972916 A2 EP3972916 A2 EP 3972916A2
Authority
EP
European Patent Office
Prior art keywords
garbage
container
emptying
monitoring device
monitoring
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.)
Pending
Application number
EP20728453.0A
Other languages
German (de)
English (en)
Inventor
Jürgen LUITHLE
Ulrich Mocek
Oliver SANDKÜHLER
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.)
Zoeller Kipper GmbH
Original Assignee
Zoeller Kipper 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 Zoeller Kipper GmbH filed Critical Zoeller Kipper GmbH
Publication of EP3972916A2 publication Critical patent/EP3972916A2/fr
Pending legal-status Critical Current

Links

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

Definitions

  • the present invention relates to a collecting container for a garbage truck according to the preamble of claim 1, a garbage truck with a collecting container and a method for monitoring a loading area which is sensitive to a pouring opening according to the preamble of claim 15.
  • Refuse vehicles mostly have collection containers with a pouring opening through which the garbage gets into the interior of the collection container.
  • An emptying device is arranged on the rear of the collecting container, which automatically or semi-automatically lifts the refuse container, moves it to the pouring opening and empties the contents of the refuse container into the collection container.
  • the Entleervorrich device has at least one pallet truck that detects the garbage container and moves it.
  • a corresponding garbage truck is known, for example, from EP 1 619 143 B1.
  • EP 3 118 141 A1 discloses a monitoring device with various sensor arrangements in the area of the emptying device which are intended to recognize a corresponding process and interrupt the emptying process.
  • a sensor arrangement of EP 3 118 141 A1 is located on the lift truck itself, so it moves together with the lift truck during the emptying process.
  • the main movement of the lift truck in the direction of the pouring opening and the associated shaking movements increase the susceptibility of the measurement to errors and also reduce the service life of the sensor.
  • sensors are provided in the upper region of the lift-tilt device that monitor an area immediately in front of the pouring opening. This sensor arrangement detects garbage collectors who are entrained too late or not at all.
  • the monitoring device provides further alternative designs with stationary sensors.
  • the sensors are either in the side walls on the side of the emptying device on the collecting container or on the rear wall of the collecting container above the Arranged pouring opening.
  • Ultrasonic sensors or light sensors that are operated in the infrared range are mentioned as sensors. In particular, cameras are also used.
  • the collection container for a garbage truck is characterized in that the monitoring device has at least a first and a second monitoring device with first and second detection spaces, the first and second detection spaces at least partially overlapping, and that at least the first and the second monitoring device are independent of one another are.
  • the overlap of the volumes of the detection spaces is preferably> 20%, particularly preferably> 30%, in particular> 50%.
  • the maximum overlap is 90%.
  • the percentages preferably relate to the smaller detection area in each case.
  • the first monitoring device is independent of the second monitoring device, a constant mutual checking of the monitoring devices for functionality is possible.
  • the monitoring equipment services are preferably not linked to one another.
  • the monitoring devices therefore work independently of one another. This has the advantage that the measurement data from the two overlapping detection spaces can be used for mutual functional testing of the two monitoring devices.
  • the loading area is monitored redundantly, which guarantees a high degree of reliability and functional safety of the monitoring device, so that a so-called performance level c according to DIN EN ISO 13849-1 (June 2016) is achieved with the monitoring device according to the invention.
  • At least the first and the second monitoring device are preferably based on different measurement methods.
  • Different measurement methods preferably contain different radiation sources, such as. B. light or ultrasound, and / or different beam shapes, such. B. pulsed or continuous rays, and / or under different evaluation methods such. B. temporal or spatial evaluation.
  • the second measuring method variant is still available, which further improves the safety of the monitoring device.
  • a monitoring device is preferably based on an optical method and a monitoring device is based on an ultrasound method.
  • the collecting container preferably has a device for handling garbage.
  • This handling device is preferably an emptying device for Entlee Ren from garbage containers, which is arranged on the collecting container.
  • the emptying device is preferably a lifting and tilting device with a lift dare.
  • the lift truck of the garbage truck advantageously has a Aufnah mekamm for attaching the garbage container.
  • Such a receiving comb is known, for example, from EP 1 619 143 B1.
  • the emptying process starting from the receiving position, initially consists of a lifting movement and a subsequent tilting movement.
  • the pick-up position of the lift truck is the position in which the Müllbenzol ter are moved by the garbage collectors to the lift truck to start the Entleervor gang.
  • a flap switch can be operated by the garbage container, for example, whereby the emptying process is started.
  • the garbage can is then lifted and, if the arrangement is correct, actuates a receipt switch on the pallet truck. If the acknowledgment switch is not operated, the emptying process is aborted. As a rule, the garbage container is then deposited and must be moved again into the correct receiving position by a garbage collector.
  • the pallet truck and the garbage container are in a locked position.
  • the garbage container is fixed to the lift truck by means of a locking device so that the garbage container does not fall from the lift truck during the tilting movement.
  • the lift truck and garbage bin are in an emptying position.
  • the emptying device or the emptying device preferably comprises a control device which controls the emptying process.
  • the control device is preferably connected to flap and receipt switches of the garbage truck.
  • the control device outputs a start signal to the drive device of the Ent emptying device when the emptying process is to begin.
  • the emptying process can also be stopped by a stop signal from the control device.
  • the handling device is a pressing plant for compacting garbage located in the collecting container.
  • the press shop is located in the collecting tank. By means of the pressing plant, the garbage brought into the collecting container is removed from the area of the pouring opening and compressed within the collecting container.
  • Pressing plant and emptying device are preferably both present in or on the collecting container. Other embodiments do not have an emptying device, so that the refuse is thrown manually by the garbage collectors through the pouring opening into the collecting container. Such collecting containers then only have the pressing plant.
  • Both the pressing plant and the emptying device work fully or partially automatically and thus represent a potential danger for the garbage collector when they are in the loading area.
  • the loading area denotes the working area of the garbage collector in front of the pouring opening.
  • the loading space denotes the functional space of the emptying device.
  • the functional space of the emptying device is located in the x direction behind the emptying device based on the lowered rest position of the emptying device.
  • the base area of the three-dimensional functional space extends over the width Bi of the emptying device. In the x-direction, the base area of the functional space extends over a length L, measured from the receiving device of the emptying device in the rest position.
  • the receiving device is, for example, the receiving comb of a lift truck.
  • the functional space can preferably be divided into a first monitoring space and a second monitoring space, the first monitoring space being located behind the emptying device and the second monitoring space being located in the x direction behind the first monitoring space.
  • the first monitoring device is preferably arranged on a wall of the collecting container, in particular on a rear wall of the collecting container, above the pouring opening.
  • the first monitoring device preferably has at least one LIDAR system.
  • a LIDAR system (LIDAR: Light Detection and Ranging) is understood to mean a system for optical distance measurement that is related to the radar system, with light beams, in particular also laser beams, being used.
  • the LIDAR system preferably has at least one LED transmitter (light emitting diode), a receiving device and an evaluation device.
  • the LED transmitter preferably emits light in the infrared range.
  • the preferred wave range is between 800 and 900 nm. This infrared light is imperceptible to the human eye, so that the garbage collectors are not dazzled in their work.
  • the LIDAR system has the advantage that a large, defined area of the room can be irradiated with emitted light.
  • the detection space of an LED transmitter preferably has a cone shape and is referred to as a detection cone.
  • the size of the cross-sectional area of the De detection cone depends on the distance to the LED transmitter, the cross-sectional area z. B. at a distance of about 4 m from the LED transmitter has a diameter of 50 cm to 60 cm.
  • the cone angle ⁇ is preferably from 4 ° to 20 °, particularly preferably from 5 ° to 10 °.
  • the LED transmitter can be pivotable about a vertical axis (z direction of an xyz coordinate system), so that a specified spatial area can be scanned.
  • LED transmitters are arranged next to one another in the y direction of the xyz coordinate system, so that several detection cones span the first detection area.
  • This embodiment has the advantage that no moving parts are required.
  • the fixed arrangement of the LED transmitters means that the first detection space is stationary. In this way, the monitoring device vibrates less strongly during the emptying process, which reduces the susceptibility of the monitoring to errors.
  • the LIDAR system preferably has 5 to 15, in particular 10 to 12, LED transmitters which are arranged next to one another in the y direction in such a way that the detection cones partially overlap and form a wedge-shaped first detection area.
  • Each beam axis preferably has a distance angle a '> 0 to the adjacent beam axis.
  • the distance angle a ' is preferably ⁇ 10 °.
  • the LIDAR system is preferably a PRT device (Pulse Ranging Technology).
  • the PRT method is a precise method for distance measurement, so that an assignment to certain incidents is possible within the first detection area on the basis of the determined distance.
  • Such a device does not send out a continuous beam of light, but rather short pulses. Pulses can be sent out with higher energy, which improves the measurement result.
  • Each LED transmitter preferably sends out light pulses, the transit time of which is measured. The time difference between the time of transmission and the time of reception of the laser pulse reflected by an object is measured and the distance to the object is determined from the measurement data.
  • the area measurement using the detection cone has the advantage that irregular or inhomogeneous surfaces of objects can also be reliably detected and recognized.
  • the LIDAR system is not only able to recognize the presence or absence of objects or people, but it is also possible to distinguish objects from people.
  • the first detection space of the LIDAR system can be adjusted to the dimensions of the emptying device and the associated working space of the emptying device by measuring signals, such as. B. the reflected from an object th light rays, are preferably hidden from outside a predetermined range R in the evaluation in the evaluation unit.
  • the LIDAR system offers a high degree of flexibility and security for the garbage collectors.
  • At least the first detection space of the first monitoring device, in particular of the LIDAR system is preferably limited to a range Rx extending in the x direction and a range Ry extending in the y direction.
  • the ranges Rx and Ry are preferably set to the dimensions Bi and L of the loading space.
  • a center line M1 or a center line of the first detection space preferably forms an angle y with the z-axis, where g is between 15 ° and 70 °, in particular between 20 ° and 50 °.
  • the angle g designates the angle of inclination of the first detection space.
  • the first detection space extends not only into the first monitoring space, in particular the subspace above the refuse container to be emptied, but also into the second monitoring space behind the garbage container to be emptied, as long as z.
  • the emptying device is in the initial phase of the emptying process. This has the advantage that in an early phase of the emptying process a person behind the garbage container to be emptied is recognized and the emptying process is then aborted or interrupted.
  • the opening angle w can preferably be up to 45 °. If the refuse container is so overfilled that the opening angle w> 45 °, the cover protrudes into the first detection space. As a precaution, this leads to the emptying process being aborted, because in this case the space behind the garbage can is shielded by the lid and people behind the garbage can no longer be detected by the first monitoring device, in particular by the LLDAR system.
  • angle g in connection with the container lid also apply to the inclination angle e of the second monitoring device, as will be described in detail below.
  • the first monitoring device is preferably arranged at a distance from the rear wall of the collecting container by means of a holder.
  • the bracket offers the advantage that the distance between the first monitoring device and the rear wall of the collecting container z. B. can be adjusted via the size of the bracket.
  • the first monitoring device is preferably arranged adjustable in the x-direction and / or in the y-direction on the holder.
  • the distance to the rear wall has an influence on the angle of inclination g of the first detection space.
  • the angle of inclination g of the first detection space can be selected larger or smaller.
  • the irradiation of the work space and the range of the first detection space can thereby be changed in particular to adapt to different sizes of refuse bins.
  • the second monitoring device is preferably arranged on both sides next to the pouring opening on the wall of the collecting container or on side walls arranged next to the pouring opening, preferably on the end faces of these walls.
  • the second monitoring device preferably has at least two ultrasonic devices.
  • the pouring opening preferably has a height Hi, based on the lower edge of the pouring opening, and the ultrasonic devices are preferably arranged at a height H2 with 1/3 ⁇ Hi ⁇ H2 ⁇ 2/3 ⁇ Hi.
  • the ultrasonic devices each preferably have an ultrasonic sensor with an ultrasonic transmitter and ultrasonic receiver and are preferably arranged much lower on the collecting container than the first monitoring device, so that other areas of the loading space can also be covered in some cases.
  • the second detection space preferably has two conical detection spaces, which in particular monitor the edge area of the loading space.
  • the conical detection spaces are preferably inclined with respect to the vertical (z-axis) by an angle of inclination e and pivoted inwardly by an angle Q from an xz plane.
  • the angle e is preferably between 10 ° and 70 °, in particular between 10 ° and 50 °.
  • the angle Q is preferably between 5 ° and 70 °, in particular between 5 ° and 50 °. This arrangement is particularly advantageous when, for. B. the Entleervorrich device has two juxtaposed emptying devices, which emptied before preferably independently of each other garbage bins.
  • All angles ⁇ , g, e, Q can preferably be set by adjusting, in particular by pivoting, the two monitoring devices. Adjustment devices with drive devices are preferably provided for this purpose, so that the angle settings z. B. also take place automatically can. This is particularly advantageous when small garbage containers and large containers are to be emptied one after the other.
  • all monitoring devices can also be seen several times, the ⁇ at different angles, for. B. ßi, ß 2 and ß 3 , g, e and / or Q are arranged, so that when changing a garbage bin a Verstel len of the facilities can be replaced by switching on or off the monitoring facilities in question.
  • the advantage of an arrangement on the side wall is that the ultrasonic sensors are arranged even closer to the loading area and to the refuse containers to be emptied, so that the transmission power can be reduced.
  • the first monitoring device preferably has a first evaluation device and the second monitoring device has a second evaluation device, which are connected to the control device of the handling device.
  • the two evaluation devices are preferably integrated in a common evaluation unit.
  • Data with which the measurement data can be compared is / are preferably stored in the evaluation device (s). If z. B. the data of garbage bins are stored, it can be determined by comparing the measurement data with the stored data, whether the correct or the wrong garbage container has been picked up by the emptying device and whether the garbage container is in the correct position on the emptying device.
  • an abort signal is sent from the evaluation device to the control device of the emptying device and / or the pressing plant, so that the emptying process and / or the pressing process is either canceled or interrupted.
  • the emptying process must be started again from the beginning. If the emptying process is interrupted, z. B. continued by manual operation of the emptying process who the.
  • the handling device has a position sensor, e.g. B. a rotary encoder to determine the position of a lift truck of the Entleervor direction or the position of the press shop, which is connected to the Ausnceinrichtun gene.
  • a position sensor e.g. B. a rotary encoder to determine the position of a lift truck of the Entleervor direction or the position of the press shop, which is connected to the Ausnceinrichtun gene.
  • the rotary encoder detects z. B. the angle of rotation cp of a lever of a parallelogram linkage for lifting the lift truck. During the emptying process, the lever is swiveled around an axis and the rotary encoder continuously sends the measured rotary angle cp to the evaluation device. This makes it possible to determine in which position the pallet truck is. As part of the evaluation, the evaluation device takes into account the angle of rotation cp. Only when the angle of rotation cp is in a predetermined angular range WBo and a detection signal is additionally received does the evaluating device send an abort signal to the control device.
  • a lever of the lift truck is advantageously emptied for the lifting movement of the Ent emptying from the receiving position at most over an angle WBmax with z.
  • WBmax 120 ° movable, whereby it is in the locking position after the movement over the angle WBmax.
  • the angular range WBo preferably extends from 0.5 ⁇ WBmax to 0.7 ⁇ WBmax.
  • the invention also relates to a garbage truck with a Sam mel container according to the invention.
  • the evaluation devices of the monitoring devices are preferably connected to a control device of the garbage truck or a control device in the garbage truck.
  • the object is also achieved with a method for monitoring a charging area located in front of a pouring opening of a collecting container, the collecting container being charged with garbage.
  • a monitoring device is used which has at least one first and at least one second monitoring device with first and second detection spaces.
  • the loading area is monitored with at least two different measuring methods.
  • the collecting container preferably has at least one device for the partially or fully automatic handling of garbage.
  • the loading area is monitored during the handling process, with the automatic handling process being aborted or interrupted by at least one monitoring device when a dangerous situation is detected.
  • the handling process is preferably a partially or fully automatic emptying process, the functional space of the emptying device being monitored during the emptying process of a garbage container, an emptying device of the emptying device running through a first path and a second path with the garbage container in a functional space of the emptying device.
  • the first path extends from a receiving position A, in which the garbage container is received, to a raised locking position D, in which the garbage container is locked to the emptying device.
  • the second distance extends from the locking position D to an emptying position in which the garbage container is emptied.
  • a first monitoring space is located above the garbage container and a second behind the garbage container monitoring room located and when an object is detected by at least one monitoring device in at least one of the monitoring rooms, the emptying process is aborted or interrupted.
  • a check is carried out to determine whether there is an object or a person in a hazardous area.
  • a corresponding time window is preferably linked to the completion of 65% to 85% of the first route.
  • the automatic emptying process is preferably aborted or interrupted while the second path is being traversed during a second time window if a missing refuse container or the presence of a person is detected.
  • the emptying process can be continued by manual actuation of the emptying device while traveling the first path.
  • the monitoring device When running through the first and / or second path, the monitoring device preferably checks itself. While running through the second path, a refuse container must be detected. This can ensure that the monitoring system is still working smoothly at this point in time. If this is not the case, all movements of the emptying device are canceled and z. B. held the rollover protection in the area of a pour opening above, so that an object or a person on the container is not detected by the rollover protection.
  • the emptying process is preferably carried out with at least two different emptying speeds. It is preferred that the emptying process begins with a first emptying speed vi and that after a safety time window the emptying process is continued with a second emptying speed V2, where vi ⁇ V2 applies.
  • the safety time window preferably begins in recording position A.
  • the safety time window preferably ends at the earliest when the locking position D is reached. Particularly preferably, the safety time window ends after a maximum of 30%, in particular a maximum of 20%, of the second route.
  • the lower emptying speed v1 compared to the normal emptying speed v2 has the advantage that the garbage collector has a little more time to step out of the loading area. This also increases the safety of the garbage collector. Another advantage is that the garbage collector has more time to visually check the assembly, such as eg for checking the correct seating of the garbage can on the emptying device.
  • the dimensions of refuse containers are preferably stored in at least one evaluation device or one evaluation unit of the monitoring device.
  • a check is carried out to determine whether the garbage container to be emptied corresponds to the garbage container stored.
  • the first monitoring device preferably detects the rear wall of the refuse container
  • the side wall (s) of the refuse container are mainly detected by the second monitoring device (s). From the combination of the measurement data, conclusions can be drawn about the waste container to be emptied.
  • Figure 1 is a perspective rear view of a collecting container according to the invention
  • Figure 2 is a top view of the LIDAR system with associated beam geometry
  • FIG. 3 shows a perspective rear view of the collecting container with the second monitoring device according to FIG. 1,
  • FIG. 4 side view of the stain part of the collecting container with garbage container of size 240I, FIG. 4a side view of the rear part of the collecting container with garbage container of size 1 1001,
  • Figure 5 is a schematic side view of an emptying device in
  • Figure 6 is a perspective rear view of the collecting container at
  • FIG. 7 shows a perspective rear view of a collecting container without an emptying device
  • FIG. 8 shows a diagram to explain the interaction of the components of emptying devices and monitoring devices.
  • FIG. 1 shows a perspective rear view of a collecting container 1 according to the invention with a rear part 2, on the rear wall 3 of which an emptying device 12 forming the handling device 10 is arranged.
  • the loading area 8 is the functional space 8 'of the emptying device 12 (see also FIGS. 2 and 4).
  • the exemplary emptying device 12 has two emptying devices 12a and 12b for emptying garbage containers 6 (see also FIG. 3).
  • a monitoring device 20 which has a first monitoring device 30 and a second monitoring device 40.
  • the first monitoring device 30 is arranged centrally above the pouring opening 4 and consists of a LIDAR system 31 which is fastened to a Flalterung 34 be.
  • the LIDAR system 31 has a total of eleven LED transmitters 36 which are arranged next to one another and which emit infrared light obliquely downwards. Each LED transmitter 36 generates a conical detection space 38, which is referred to as a detection cone (see Figure 2). This is indicated schematically in FIG. 1 by eleven wedge surfaces.
  • the LIDAR system 31 also comprises a receiving device (not shown) which receives the laser pulses reflected from an object or from a person.
  • the first monitoring device 30 also includes a first evaluation device 35 (not shown) in which the received measurement signals are evaluated (see also FIG. 8).
  • the detection cones 38 partially overlap and overall form a first detection space 32, which is explained in more detail in connection with the following figures.
  • the first detection space 32 is wedge-shaped and has a wedge angle ⁇ of 80 °.
  • the emptying device 12 has a width Bi which corresponds essentially to the distance between the two side walls 5a and 5b.
  • the width B2 of the first detection space 32 is preferably limited to this Width Bi set. The setting of the width of the detection space 32 takes place in that the measurement signals, which are reflected back from outside this fixed area by objects or people, are not taken into account in the evaluation.
  • the second monitoring device 40 comprises two ultrasonic devices 40a, b with ultrasonic sensors 41a, b, which are arranged on the end faces of the side walls 5a and 5b approximately halfway with respect to the pouring opening 4.
  • the ultrasound devices 40a and 40b have two second detection spaces 42a, b, which are likewise designed to be conical.
  • the dotted areas of the detection rooms indicate, for example, a danger area in which no more people are allowed to be at the start of the emptying process.
  • FIG. 2 shows the top view of a LIDAR system 31 with the associated beam geometry.
  • the LIDAR system 31 contains eleven LED transmitters 36, of which only three are given the reference symbol 36.
  • the LED transmitters 36 are arranged in such a way that the beam axes S are fanned out, the beam axes S having a distance which is characterized by the distance angle a '.
  • a detection cone 38 which has a cone angle a, belongs to each beam S. Preferably a> a ‘.
  • the functional space 8 ′ extends over the length L, which is measured by the emptying devices 12a, b in the x direction, and over the width Bi, the width Bi corresponding to the width of the emptying device 10.
  • the width B2 of the first detection space 32 corresponds to the width Bi.
  • the range Rx of the LIDAR system 31 is set to the length L of the functional space 8 '. Since the LIDAR system is arranged in the middle of the functional space 8 ', the range Ry is set to Bi / 2 in both directions.
  • FIG. 3 as in FIG. 1, a perspective rear view of the collecting container 1 is shown, the beam geometry of the LIDAR system 31 having been omitted to explain the second monitoring device 40.
  • an ultrasonic device 40a, b is arranged, which emits ultrasonic waves that form a conical second detection space 42a, b.
  • the two detection spaces 42a, b are inclined inwardly by an inward angle Q from a plane E, which lies in the xz plane, so that the edge region of the functional space 8 ′ can be monitored.
  • Each detection space 42a, b has a center line M2 and a cone angle d.
  • the cone angle d is preferably between 5 ° and 50 °, in particular between 10 ° and 40 °.
  • the pouring opening 4 has a fleas Hi.
  • the ultrasonic devices 42 a, b are arranged on a flea FI2, which is between 3 FH 1 and 2 hours FH 1.
  • FIG. 4 shows a side view of the stain part 2 of the collecting container 1, the garbage container 6 having a size of 240I and being in position C within the first path 50, as is shown schematically in FIG.
  • the lift truck 14 In position C, the lift truck 14 is at the end of the first time window, in which both monitoring devices 30, 40 check whether there is in the monitoring space 8a above the garbage container 6 and / or in the monitoring space 8b behind the garbage container 6, which together the Function room 8 'form, people or objects are located.
  • FIG. 4 an overfilled garbage container 6 can be seen, the lid 7 of which stands up.
  • the opening angle w is 45 °.
  • the lid 7 of the garbage container 6 does not protrude into the two detection spaces 32 and 42a, so that the previously described detection of the person in the danger area is not impaired.
  • FIG. 4a the side view of the rear part 2 of a collecting container 1 with a garbage container 6 'of size 1 1001 is shown.
  • FIG. 4a differs from FIG. 4 in that the angles g and e are somewhat larger due to the greater width of the refuse container 6 '.
  • the monitoring devices 30, 40 have swivel and drive devices (not shown) for adjusting the angles g and e. According to an alternative, several monitoring devices 30, 40 can be provided, which are arranged at different angles g and e.
  • the first path 50 is shown schematically on the basis of the sequence of movements of the lift truck 14 without the associated garbage container 6.
  • the lift truck 16 has abutment elements 16 at the lower end, which rest against the wall of the refuse container (not shown).
  • a receiving device in the form of a receiving comb 15 is shown.
  • the path 50 is shown on the basis of the movement path of the receiving comb 15.
  • a parallelogram linkage 17 is drawn on the lift truck 14, which has a lever 17a which is articulated on a further lever 17b.
  • the two levers 17a, b span the angle of rotation cp.
  • a rotary encoder 18 is arranged on the associated joint 17c, which measures the rotary angle cp and is connected to the evaluation devices 35, 45 of the two monitoring devices 30 and 40 (see also FIG. 7).
  • the refuse container In position A, the refuse container is picked up and moved along the path 50 to the locking position D.
  • the first time window begins and rooms 8a and 8b are monitored. This lasts until position C is reached.
  • the time window is approximately 2 to 3 seconds, for example.
  • the angle range WB corresponds to the first time window, with the maximum angle WB max at approximately 120 ° corresponding to 100% of the distance 50.
  • the refuse container 6 In FIG. 6, the refuse container 6 is already locked and is located on the second path 52, in which the lifting truck 14 with the refuse container 6 is pivoted by means of the pivot shaft 13. This is indicated schematically in FIG. At the end of the path 52, the garbage container is emptied through the pouring opening 4 into the collecting container 1.
  • a mutual review of the monitoring devices 30 and 40 is carried out along the second path 52. If both monitoring devices 30, 40 recognize a garbage container 6, 6 ‘, the emptying process is not aborted or interrupted, because it is determined that both monitoring devices are working properly. However, if one of the two monitoring devices does not recognize a garbage bin 6, 6 ‘or a person, this leads to the emptying process being aborted. In this case, the cause of the missing waste container must be clarified and eliminated before further emptying can be carried out.
  • FIG. 7 another embodiment of a collecting container 1 is Darge, which has a pouring opening 4 in the rear wall 3 through which, for. B. Garbage bags are thrown by the garbage collectors.
  • the collecting container there is a pressing plant 11, which transports and compresses the garbage bags from the loading recess under the pouring opening. If the garbage collector approaches the pouring opening 4 too closely, he may come with his arms in the Ge danger zone of the pressing plant 1 1, which the monitoring device 20 he knows.
  • the loading area 8 is the work area 8 ′′ of the garbage collector. For the sake of clarity, the first detection area 32 has not been shown.
  • FIG. 8 shows an exemplary diagram with the various components of the emptying device 20 and monitoring devices 30, 40.
  • the emptying device 10 comprises two emptying devices 12a, b, which are connected to one Control device 19 are connected.
  • the control device 19 controls the automatically running emptying process and stops the emptying device or devices 12a, b when the control device 19 receives a corresponding signal from the monitoring device 30 or 40 or their evaluation devices 35, 45.
  • the monitoring device 20 comprises the two monitoring devices 30 and 40, to which the associated evaluation devices 35 and 45 are connected, which in the illustration shown here are combined to form an evaluation unit 25.
  • the position or rotation angle encoder 18 (see also FIG. 5) is also connected to the evaluation unit 25.
  • the time window is controlled on the basis of the values of the rotary encoder 18 and the monitoring of the two monitoring spaces 8a and 8b is carried out while the first path 50 is running through.

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

Abstract

L'invention concerne un réservoir collecteur (1) destiné à un camion à ordures destiné à la collecte d'ordures. Le réservoir collecteur (1) présente une ouverture de déversement (4) située dans un plan yz d'un système de coordonnées xyz orthogonal avec un dispositif de surveillance (20) pour surveiller une zone de chargement (8) devant l'ouverture de déversement (4). Le dispositif de surveillance (20) présente au moins un premier et au moins un deuxième dispositif de surveillance (30, 40) avec des premier et deuxième espaces de détection (32, 42a,b), les premier et deuxième espaces de détection (32, 42a,b) se chevauchant au moins partiellement et au moins le premier et le deuxième dispositif de surveillance (30, 40) étant indépendants l'un de l'autre.
EP20728453.0A 2019-05-21 2020-05-22 Réservoir collecteur, camion à ordures et procédé de surveillance d'une zone de chargement Pending EP3972916A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019113507.9A DE102019113507A1 (de) 2019-05-21 2019-05-21 Sammelbehälter, Müllfahrzeug und Verfahren zur Überwachung eines Beschickungsbereichs
PCT/EP2020/064240 WO2020234437A2 (fr) 2019-05-21 2020-05-22 Réservoir collecteur, camion à ordures et procédé de surveillance d'une zone de chargement

Publications (1)

Publication Number Publication Date
EP3972916A2 true EP3972916A2 (fr) 2022-03-30

Family

ID=70857170

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20728453.0A Pending EP3972916A2 (fr) 2019-05-21 2020-05-22 Réservoir collecteur, camion à ordures et procédé de surveillance d'une zone de chargement

Country Status (3)

Country Link
EP (1) EP3972916A2 (fr)
DE (1) DE102019113507A1 (fr)
WO (1) WO2020234437A2 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021128526A1 (de) 2021-11-03 2023-05-04 Zöller-Kipper Gesellschaft mit beschränkter Haftung Verfahren zum Betrieb einer Hub-Kipp-Vorrichtung und Hub-Kipp-Vorrichtung

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3910660A1 (de) * 1989-04-03 1990-10-04 Zoeller Kipper Sicherheitsschaltanordnung fuer hubkipp- oder kippvorrichtungen
DE4343811C1 (de) * 1993-12-22 1995-03-16 Sutco Maschinenbau Gmbh Verfahren zum vollautomatischen Entleeren von Müllgroßbehältern
DE9412508U1 (de) * 1994-08-03 1994-10-06 Schübler Fahrzeugtechnik GmbH, 46149 Oberhausen Abfallsammelfahrzeug mit abgesichertem Arbeitsbereich und Geschwindigkeitsbegrenzung
DE4435156C2 (de) * 1994-09-30 2002-06-27 Microsonic Ges Fuer Mikroelekt Ultraschallsensor
NL1003535C2 (nl) * 1996-07-08 1998-01-12 Geesink Bv Afvalinzamelvoertuig voorzien van beveiligingsmiddelen.
DE29903065U1 (de) * 1999-02-22 1999-07-22 Zöller-Kipper GmbH, 55130 Mainz Entleervorrichtung
DE20201824U1 (de) * 2002-02-06 2002-05-23 FAUN Umwelttechnik GmbH & Co., 90411 Nürnberg Abfallsammelfahrzeug
DE202004007957U1 (de) * 2004-05-14 2005-09-22 Schneider Systemtechnik Gmbh Müllbehälter-Lifter mit Hinterraum-Überwachung
DE102004036363B4 (de) * 2004-07-22 2006-11-23 Zöller-Kipper GmbH Verfahren und Vorrichtung zur Absicherung des Arbeitsbereiches von Entleervorrichtungen
DE202007011784U1 (de) * 2007-08-23 2009-01-02 Faun Umwelttechnik Gmbh & Co. Kg Abfallsammelfahrzeug mit Hecküberwachung
NL2015164B1 (nl) * 2015-07-14 2017-02-01 Terberg Machines Bewakingssysteem voor het bewaken van een hef-kanteltraject van een beladingssysteem, en werkwijze daarvoor.
DE202016000777U1 (de) * 2016-02-08 2016-04-25 Roland Skrypzak Entsorgungsfahrzeug mit zumindest einer Kameraanordnung
US11685598B2 (en) * 2017-08-11 2023-06-27 Bucher Municipal Pty Ltd Refuse collection system

Also Published As

Publication number Publication date
DE102019113507A1 (de) 2020-11-26
WO2020234437A3 (fr) 2021-02-18
WO2020234437A2 (fr) 2020-11-26

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