EP4342817A1 - Véhicule d'élimination de déchets et mécanisme de levage pour un véhicule d'élimination de déchets - Google Patents

Véhicule d'élimination de déchets et mécanisme de levage pour un véhicule d'élimination de déchets Download PDF

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Publication number
EP4342817A1
EP4342817A1 EP22196998.3A EP22196998A EP4342817A1 EP 4342817 A1 EP4342817 A1 EP 4342817A1 EP 22196998 A EP22196998 A EP 22196998A EP 4342817 A1 EP4342817 A1 EP 4342817A1
Authority
EP
European Patent Office
Prior art keywords
signature
sensor
waste disposal
waste
disposal 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.)
Pending
Application number
EP22196998.3A
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German (de)
English (en)
Inventor
Stuart Sargeant
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.)
MOBA Mobile Automation AG
Original Assignee
MOBA Mobile Automation AG
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 MOBA Mobile Automation AG filed Critical MOBA Mobile Automation AG
Priority to EP22196998.3A priority Critical patent/EP4342817A1/fr
Priority to EP23198484.0A priority patent/EP4342818A1/fr
Publication of EP4342817A1 publication Critical patent/EP4342817A1/fr
Pending 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

Definitions

  • Embodiments of the present invention relate to a waste disposal vehicle and to a method for controlling a lifting mechanism of a waste disposal vehicle. Further embodiments refer to a lifting mechanism of a waste disposal vehicle and to a controller for the lifting mechanism.
  • waste disposal vehicles where the waste Hopper, below referred to as container is positioned next to the lifting mechanism, so that the lifting mechanism when being activated can lift the waste container from a release position to a lifted position and further to an emptying position.
  • the waste disposal staff opens the lid of the waste container so as to check the content of the waste container.
  • the WO 2021/255409 A1 describes a detector which is configured to be mounted to a container.
  • the detector has a housing and a mounting arrangement for mounting the housing to the container.
  • a sensor arrangement includes a sensor to monitor the container and to generate a sensor output signal in response to a sense container event.
  • a processor executes a machine learning algorithm to determine a class of the sensed container event for determining occupancy of the container from the sensor output signal, where the control system is configured to provide an output based on the class of sensed container events determined by the machine learning algorithm.
  • a disadvantage of such a detector, which is arranged on the waste container is that many such detectors are required, because such a detector would have to be attached every container that could possibly serve as accommodation as homeless people. Furthermore, it is possible that the detector getting damaged parking or emptying the waste container, or it will be vandalized by someone or the homeless person. Therefore, there is a need for an improved approach.
  • An objective of the present invention is a concept for avoiding that a human or animal staying in a waste container is injured during the emptying.
  • An embodiment provides a waste disposal vehicle, which comprises a lifting mechanism, a sensor and a controller.
  • the lifting mechanism is configured for lifting a waste container.
  • the sensor is configured to detect a signature, e.g., an infrared or thermal signal on or within the waste container.
  • the controller is configured to send a stop command to the lifting mechanism if the signature complies with a characteristic signature, wherein the characteristic signature is a signature of a human or an animal.
  • the senor is an infrared or thermal sensor. Consequently, the signature is an infrared/thermal signature, where the characteristic signature comprises a characteristic infrared/thermal signature.
  • the sensor comprises a temperature sensor, e.g., a different kind of temperature sensor.
  • An infrared sensor may, for example, be realized by an infrared camera or a thermopile array.
  • Embodiments of the present invention are based on the finding that it is possible to detect homeless persons or any human-based objects contained within a waste container during the lifting process by stopping the machinery before emptying the waste container or a one or more equipment stages of emptying with the object of preventing a dangerous situation.
  • a thermal imagery or thermal camera imagery may be used to identify such objects.
  • this process can be supported by AI (artificial intelligence).
  • Embodiments of the present invention enable beneficially to determine a human or animal within the waste container during the lifting procedure, such that the lifting procedure can be stopped before the danger of injury the human or animal exists.
  • the sensors attached to the lifting mechanism or a grip arm, referred to as a lifting arm, of the lifting mechanism Due to this arrangement, it is possible to arrange the sensor more closely to the potential position of the human or animal within the waste container.
  • the sensor may be directed to the waste container gripped by the lifting mechanism, e.g., from the side. This enables that the sensor is configured to determine a signature of the lower portion or the middle portion of the waste container.
  • the sensor may be - according to embodiments - activated during the lifting.
  • the controller is configured to activate the sensor at a position before emptying or before reaching the emptying position.
  • the controller outputs a stop command so as to stop the lifting.
  • the controller outputs a stop command so as to stop the lifting before emptying or before the emptying position.
  • the controller may be configured to differentiate between at least two different sensitivity states, wherein the characteristic signature depends on the sensitivity state. For example, in the lower sensitivity state, a signature may be determined as characteristic signature, if the signature has a high amount of specific characteristics. In a higher sensitivity state, the signature may be determined as characteristic signature, even if just a few characteristics are determined. Characteristics may be the temperature difference between the potential human characteristic and the surrounding or may be the size of the potential human characteristic or the shape of the potential human characteristic. According to embodiments, the selected sensitivity state depends on the user input, a geographical classification of the current position, a current position itself, and/or a value of a GNSS sensor of the waste disposal vehicle.
  • a controller may comprise an artificial intelligence engine configured to determine a sensitivity state and/or a geographical classification based on previous detections of a human or an animal.
  • a controller is configured to control warning means, like acoustic warning means.
  • the acoustic warning means are enabled dependent on a sensitivity mode.
  • the acoustic warning signal may be output when the sensitivity mode is high so as to wake up the homeless person sleeping within the waste container.
  • the human characteristic may be influenced to a motion, which, vice versa, can be determined.
  • the sensor is configured to determine a motion of the signature.
  • optical warning means may be used as well. An optical warning could be outside on a warning lamp or inside the cabin on a display.
  • the lifting mechanism is configured for lifting the waste container and additionally comprises the following elements:
  • Another embodiment provides a controller for a lifting mechanism for a waste disposal vehicle.
  • the lifting mechanism is configured for lifting a waste container.
  • the controller comprises a sensor input for a sensor configured to detect a signature on or within the waste container.
  • the controller is further configured to send a stop command to the lifting mechanism, if the signature complies with a characteristic signature, where the characteristic signature is a signature of a human or an animal.
  • Another embodiment provides a method for controlling a lifting mechanism of a waste disposal vehicle.
  • the method comprises the following steps:
  • the lifting mechanism may be computer implemented.
  • another embodiment provides a computer program for performing, when running on a controller for a lifting mechanism, the above-discussed method.
  • Fig. 1 shows a waste disposal vehicle 10 comprising a waste container 12 and a loading mechanism 20.
  • the loading mechanism 20 can be arranged at different positions, since a differentiation between front loaders, rear loaders, and side loaders is made. Furthermore, it is differentiated between manual loaders, automated loaders, and semiautomatic loaders. Especially for automated and semi-automated loaders, the side loader arrangement is preferred, since the waste disposal vehicle 10 can drive along the walkway, stop at the position of the waste container 30, and perform the loading and emptying procedure automatically.
  • the below discussion is focused on back loaders, wherein teachings disclosed are applicable to other loader types.
  • the waste container 12 has an opening 12o, e.g., at the rear side of the vehicle 10 or at the top side of the waste container 12. Furthermore, the waste container 12 may have a garbage press 12p arranged inside the waste container 12 and configured to compress the waste 32w inside the container 12.
  • the lifting mechanism 20 is arranged. Same may comprise a grip arm 22 which is configured to grip the waste container 30. Same is lifted from a lower position to a lifted position and then transferred to emptying position, where the waste container 30 is turned over, so that the content of the waste container 30 is emptied through the opening 12o into the container 12.
  • a sensor 40 is attached to the waste disposal vehicle 10 or especially to the lifting mechanism 20. The controlling of the lifting mechanism 20 being influenced by the sensor 40 will be discussed with respect to Fig. 2 .
  • Fig. 2 shows a lifting mechanism 20, e.g., being attached to a waste container 12 of a waste disposal vehicle.
  • the lifting mechanism 20 comprises a rail, along which a grip arm 20 can be moved from a lower position LP to a higher position HP and emptying position EP.
  • the grip arm 22 is configured to grip the container 30.
  • the sensor 40 is attached to the gripping arm 22 or to the lifting device 20 for the waste container 30 of the disposal vehicle 12. As it is illustrated, the sensor 40' may additionally/alternatively be directed into the opening 30o of the waste container 30.
  • the container 30 is gripped by the gripping arm in the position LP and then lifted along the rail 21 up to the position HP. From the position LP to the position HP, the container 30 is still in the erected position, so that the container opening 30o or the container lid 301 looks towards above. After position HP, the container 30 is transferred by the gripping arm 22 into the emptying position EP. Here, the container 30 is turned around, such that the opening 30o substantially extends downwards, so that the waste 32w falls due to gravity into the container 12.
  • the emptying procedure can be supported by shaking the container 30, so that the contents of the container fall into the container 12.
  • This procedure including gripping, lifting and emptying is controlled by the controller 42.
  • the controller 42 receives a signal to grip and lift the container 30 and controls the actuator of the lifting mechanism 20 to move the gripping arm 22 from the position LP to the position EP.
  • a sensor 40 like an infrared sensor or - in general - thermal sensor can be attached to the waste disposable vehicle 12.
  • the sensor 40 is attached to the lifting mechanism 20 or the gripping arm 40 like in this case.
  • the infrared sensor 40 is directed to the container 30, e.g., from the side, so that a thermal pattern 34 or in general a characteristic signature can be determined.
  • the waste in a waste container 30 has an even temperature profile along the surface of the container 30 or across the perspective of the infrared sensor 40. In case, there is a locally increased temperature spot this can be determined by the sensor 40.
  • a human or animal has a characteristic signature. This signature may, for example, be defined by size and/or shape and/or an absolute temperature and/or a temperature profile along the geometry. Typically the temperature of the body and the head is higher when compared to the temperature of the extremities.
  • a temperature profile for a human may be characterized by a relatively large temperature spot of approximately above 30 degrees or above 35 degrees or above 36 degrees with upper and lower extremities having a certain length and a reduced temperature in a range between 20 or 25 to 30 or 35 degrees.
  • the controller 42 comprises such characteristics, so that same is enabled to compare the detected signature with the characteristic signature which decide, whether the probability that the determined signature 34 belongs to a human (complies to a characteristic signature) is high or low.
  • a controller may use a kind of threshold for the probability, so a stop command can be sent by the controller 42 to stop the lifting procedure when the probability is high enough. For example higher than 30 percent. Due to sending the stop command the lifting procedure is stopped and especially stopped before reaching the emptying position.
  • the sensor 40 is activated before lifting or before reaching the position HP or at least before reaching the position EP.
  • the sensor 40 may start to detect the characteristic 34 after gripping and during lifting before the position HP or at the position HP.
  • the senor 40 may be attached to the rail 21 or to the vehicle 10, so that it scans the container 40 during lifting subsequent to the opening of the lid 30L. A possible position is marked by the reference numeral 40'.
  • a sensor detecting the successful grip or a weighting unit for determining the weight of the waste may be integrated into the grip arm 22.
  • the controller 42 may for example start the gripping procedure in response to a user command or in response to a detection or optical detection of a container 30.
  • the controller 42 and especially an artificial intelligence engine of the controller 42 may evaluate the determination of a characteristic position together with the position of the waste disposal vehicle.
  • a GPS sensor or a comparable sensor may be used.
  • positon information areas with high probability of homeless persons may be differentiated from areas with low probability of homeless persons.
  • the sensitivity of the sensor 40 may be adapted.
  • a threshold may be used for determining the probability of a characteristic signature. This threshold may be set to a lower threshold, e.g. 30 percent for areas with high probability of homeless persons and to a low value, e.g. 50 percent in regions with low probability of homeless persons. This relationship may be determined by use of artificial intelligence.
  • positions can - according to embodiments - be saved at which human objects (persons, such as homeless people) have already been recognized in a waste container. This makes it possible to narrow down the areas in which people often spend the night in containers (near train stations, parks, etc.). This can serve as a warning for the driver or the operator or for increasing the reliability or for adaption of probably thresholds.
  • artificial intelligence may be used for optimizing the detection algorithm for detecting a characteristic signature. For example, by giving a feedback that the detection was correct or wrong this detection algorithm may be trained. Based on this machine learning system, it is possible to recognize human objects (persons, such as homeless people) and in particular distinguish them from rubbish objects. Furthermore, the machine learning system enables according to embodiment to identify areas under which a homeless person might be (such areas covered with a cardboard or foam mat). If it is the case that a human could not be clearly identified, but identified with a probability, so that the waste disposal staff can double-check the situation. Thus, in such a case it is according to embodiments possible that the controller outputs an advice, e.g. to a driver or operator that this is where the covered areas should be checked before starting or continuing the emptying process.
  • an advice e.g. to a driver or operator that this is where the covered areas should be checked before starting or continuing the emptying process.
  • the above-mentioned machine learning system can be used to determine further thresholds. For example, it can be detected whether the lid 201 of the waste container 20 is open or closed. If open, then start the recognition. Otherwise, inform the driver and/or the operating person (acoustically or via LED/display) that the lid of the container is to be opened. If no human object was detected the container can then be further emptied in the empty position EP.
  • sensors 40/40' may be implemented as simple temperature sensors or IO-camera (thermal imagery or thermal camera imagery).
  • IO-camera thermo imagery or thermal camera imagery
  • a simple camera may be used which performs image detection, so as to determine a person.
  • one or more sensor devices or a combination of different kinds of sensor devices may be used to improve the detection.
  • a measurement of the outside temperature may be used to calibrate the thermal image, so that not only an absolute value of the signature 34 is taken into account, but also a temperature difference which might be high, when the surrounding temperature is low and which might be low when the surrounding temperature is high.
  • this factor can be taken into account.
  • a possibility to take this factor into account is to vary the threshold for the probability of a detection, since a low temperature difference between the surrounding and the assumed body temperature of a person leads to the situation, that less characteristics of the signature 34 can be determined.
  • an acoustic warning unit may be used to wake up people sleeping in the waste container 30 if necessary and thus enable (subsequent) detection by means of the sensor 40/40'.
  • the controller as described above can be part of the lifting mechanism or can be part of the vehicle or implemented within the vehicle controller.
  • the controller has access to data gained by the vehicle, e.g., to the GPS data.
  • a connection to the vehicle on-board system or to the board computer may be used, e.g., to output information regarding a detection or regarding a probability or a hint for the staff, e.g., to open the lid 201.
  • an interface e.g., a Wi-Fi interface or LTE/5G interface (a general communication interface) may be used to get access to information stored in the cloud. This information may include information on the previous detections assigned to respective positions. Vice versa, information on detection may be stored within the cloud via this interface.
  • Fig. 3 shows a flow chart for the detection approach.
  • the method 100 for controlling the above-discussed lifting mechanism comprises the steps 110, 120 and 130.
  • a differentiation between two different characteristics is made.
  • the step 110 refers to lifting the container 30.
  • a sub step of opening the lid 30I may be performed.
  • the step 120a/120b is performed.
  • a signature 34a/b on or within the waste container 30 is detected.
  • a differentiation between two different signatures 34a and 34b is made.
  • the signature 34a is a signature clearly indicating a human within the container 30.
  • the signature 34a is above 35 °Celsius clearly differentiated from the surrounding having 16 °Celsius and having the size of human.
  • the signature 34b comprises two portions both having a sufficiently high temperature (35 °Celsius), wherein due to the separation of the signature 34b into the two portions it could not be clearly decided, whether this is a characteristic signature or not.
  • the temperature of 35 °Celsius being significantly higher than the temperature of the surrounding (16 °Celsius) the probability of a detected human might be high, e.g. higher than a preset threshold.
  • the step 130 is performed, namely sending a stop command to the lifting mechanism, if the signature complies with a characteristic signature if the signature 34a/34b is comparable to a characteristic signature, wherein the characteristic signature is a signature of a human or an animal.
  • step 130 is not executed. Note the step 120 and especially step 130 is performed before emptying the waste container, e.g. during the lifting, but before the position EP.
  • a higher than Human Temperature signature alert may be incorporated.
  • the IR camera / sensor may be configured to distinctly determine high temperatures.
  • One or multiple sensors may scan the containers in the lifting process, so as to capture the main part of the container.
  • aspects have been described in the context of an apparatus, it is clear that these aspects also represent a description of the corresponding method, where a block or device corresponds to a method step or a feature of a method step. Analogously, aspects described in the context of a method step also represent a description of a corresponding block or item or feature of a corresponding apparatus.
  • Some or all of the method steps may be executed by (or using) a hardware apparatus, like for example, a microprocessor, a programmable computer or an electronic circuit. In some embodiments, some one or more of the most important method steps may be executed by such an apparatus.
  • embodiments of the invention can be implemented in hardware or in software.
  • the implementation can be performed using a digital storage medium, for example a floppy disk, a DVD, a Blu-Ray, a CD, a ROM, a PROM, an EPROM, an EEPROM or a FLASH memory, having electronically readable control signals stored thereon, which cooperate (or are capable of cooperating) with a programmable computer system such that the respective method is performed. Therefore, the digital storage medium may be computer readable.
  • Some embodiments according to the invention comprise a data carrier having electronically readable control signals, which are capable of cooperating with a programmable computer system, such that one of the methods described herein is performed.
  • embodiments of the present invention can be implemented as a computer program product with a program code, the program code being operative for performing one of the methods when the computer program product runs on a computer.
  • the program code may for example be stored on a machine readable carrier.
  • inventions comprise the computer program for performing one of the methods described herein, stored on a machine readable carrier.
  • an embodiment of the inventive method is, therefore, a computer program having a program code for performing one of the methods described herein, when the computer program runs on a computer.
  • a further embodiment of the inventive methods is, therefore, a data carrier (or a digital storage medium, or a computer-readable medium) comprising, recorded thereon, the computer program for performing one of the methods described herein.
  • the data carrier, the digital storage medium or the recorded medium are typically tangible and/or nontransitionary.
  • a further embodiment of the inventive method is, therefore, a data stream or a sequence of signals representing the computer program for performing one of the methods described herein.
  • the data stream or the sequence of signals may for example be configured to be transferred via a data communication connection, for example via the Internet.
  • a further embodiment comprises a processing means, for example a computer, or a programmable logic device, configured to or adapted to perform one of the methods described herein.
  • a processing means for example a computer, or a programmable logic device, configured to or adapted to perform one of the methods described herein.
  • a further embodiment comprises a computer having installed thereon the computer program for performing one of the methods described herein.
  • a further embodiment according to the invention comprises an apparatus or a system configured to transfer (for example, electronically or optically) a computer program for performing one of the methods described herein to a receiver.
  • the receiver may, for example, be a computer, a mobile device, a memory device or the like.
  • the apparatus or system may, for example, comprise a file server for transferring the computer program to the receiver.
  • a programmable logic device for example a field programmable gate array
  • a field programmable gate array may cooperate with a microprocessor in order to perform one of the methods described herein.
  • the methods are preferably performed by any hardware apparatus.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Refuse-Collection Vehicles (AREA)
EP22196998.3A 2022-09-21 2022-09-21 Véhicule d'élimination de déchets et mécanisme de levage pour un véhicule d'élimination de déchets Pending EP4342817A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP22196998.3A EP4342817A1 (fr) 2022-09-21 2022-09-21 Véhicule d'élimination de déchets et mécanisme de levage pour un véhicule d'élimination de déchets
EP23198484.0A EP4342818A1 (fr) 2022-09-21 2023-09-20 Véhicule d'élimination de déchets et mécanisme de levage pour un véhicule d'élimination de déchets

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP22196998.3A EP4342817A1 (fr) 2022-09-21 2022-09-21 Véhicule d'élimination de déchets et mécanisme de levage pour un véhicule d'élimination de déchets

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EP4342817A1 true EP4342817A1 (fr) 2024-03-27

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EP22196998.3A Pending EP4342817A1 (fr) 2022-09-21 2022-09-21 Véhicule d'élimination de déchets et mécanisme de levage pour un véhicule d'élimination de déchets
EP23198484.0A Pending EP4342818A1 (fr) 2022-09-21 2023-09-20 Véhicule d'élimination de déchets et mécanisme de levage pour un véhicule d'élimination de déchets

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2016101464A4 (en) * 2016-08-15 2016-09-15 Bucher Municipal Pty Ltd Refuse collection vehicle and system therefor
WO2019183606A1 (fr) 2018-03-22 2019-09-26 Rubicon Global Holdings, Llc Système de contrôle de charge pour un véhicule de service de déchets
US20210292086A1 (en) * 2020-03-04 2021-09-23 Oshkosh Corporation Refuse can detection systems and methods
US20210325529A1 (en) * 2020-04-17 2021-10-21 Oshkosh Corporation Refuse vehicle with spatial awareness
WO2021255409A1 (fr) 2020-06-18 2021-12-23 Total Waste Solutions Ltd Détecteur

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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.
CA3115471A1 (fr) * 2020-04-17 2021-10-17 Oshkosh Corporation Controles de gestion thermique
US11787333B2 (en) * 2021-03-11 2023-10-17 Daniel P. Burbank Garbage truck camera and safety system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2016101464A4 (en) * 2016-08-15 2016-09-15 Bucher Municipal Pty Ltd Refuse collection vehicle and system therefor
WO2019183606A1 (fr) 2018-03-22 2019-09-26 Rubicon Global Holdings, Llc Système de contrôle de charge pour un véhicule de service de déchets
US20210292086A1 (en) * 2020-03-04 2021-09-23 Oshkosh Corporation Refuse can detection systems and methods
US20210325529A1 (en) * 2020-04-17 2021-10-21 Oshkosh Corporation Refuse vehicle with spatial awareness
WO2021255409A1 (fr) 2020-06-18 2021-12-23 Total Waste Solutions Ltd Détecteur

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