FR2964648A1 - Method for handling waste e.g. paper waste, collecting container and for emptying container, involves lowering empty container for handling empty container in working position in automatic manner by computerized system - Google Patents

Abstract

The method involves raising vertically a securing unit jointly to an empty container, and rotating an articulated arm (4) for bringing the empty container at top of a waste storing body (3). The container of the empty container is emptied. The articulated arm is rotated for bring the empty container at the top of working position. The empty container is lowered for handling the empty container in the working position in an automatic manner by a computerized system. An independent claim is also included for an apparatus for handling a waste container and for emptying the container.

Description

The present invention relates to a device and a method for handling waste containers and for emptying their contents. Generally, the containers for the collection of waste and in particular for the differentiated collection of waste, such as glass, paper, plastic, etc., are made with the loading openings substantially disposed in their upper part, while their emptying is made through openings located in their lower part. Normally, these containers have a bell shape or a substantially square sectional shape and / or rectangular. The handling and emptying of the contents of said containers is done by means of motor vehicles, such as trucks, comprising a waste storage body, able to contain the waste, and a multi-axis articulated rotary mechanical arm, which is usually positioned between the storage body and the cab of the motor vehicle.

The multi-axis articulated arm aims to hook the waste container and transfer it to the top of the storage body, in order to discharge the waste inside the latter. Generally, in order to carry out said operations, the operator must leave the cockpit, after positioning the motor vehicle near the container, and manually operate the articulated arm with multiple axes. For this purpose, in fact, mechanical control gear for the articulated arm with multiple axes are positioned outside the motor vehicle. The operator must therefore carry the articulated arm with multiple axes above the container, control the proper positioning of said articulated arm with multiple axes relative to the upper portion of the container and hang it. For this purpose, the articulated arm with multiple axes has at its end a securing device. After having hung the container with the multi-axis articulated arm and transported it over the storage body of the motor vehicle, the operator can empty the contents of said container inside the storage body. After emptying the contents, the operator must again operate the articulated arm with multiple axes, in order to return the container to its original position. The Applicant has observed that such operations are time consuming and dependent on the skill and experience of the operator. The applicant has, moreover, observed that these 15 operations seemed particularly critical in the case of buried containers. In the latter case, it is indeed important that the lifting and lowering successively of the container relative to its buried housing are done perfectly vertically, to avoid damaging the container or its housing. The Applicant has discovered that the problems described above could be overcome by a method and apparatus that automates certain operations for the handling of waste containers and for the emptying of their contents. Thus, in its first aspect, the invention relates to a method for handling waste containers and emptying their contents through a device, comprising: a motor vehicle comprising a waste storage body; at least one articulated arm carried by said motor vehicle; at least one lashing member, disposed at one end of said articulated arm; a computer system for manipulating said articulated arm; said method comprising the steps of: a) positioning the motor vehicle near the container to be emptied; b) manipulating the articulated arm to approach said securing member at a predetermined distance D1 with respect to the container to be emptied, positioned in a working position; c) positioning said lashing member above the container aligned with its vertical axis; d) lowering said securing member and hooking said container with said securing member through said computerized system; e) vertically lifting said lashing member 20 together with said container, maintaining said container substantially vertical; g) turning the articulated arm to cause the container to empty above the waste storage body; f) emptying the contents of said container into the waste storage body; h) turn the articulated arm again to carry the emptied container above the working position; i) lowering the emptied container to return it to its working position; Characterized in that: - the step b) of manipulating the articulated arm to approach said securing member at a predetermined distance D1 with respect to the container to be emptied is controlled and performed by the operator; while - phases e) to i) are performed automatically by the computerized system.

The present invention, in this aspect, may have at least one of the preferred features which are described hereinafter. Preferably, the phase c) may comprise the sub-phases consisting of: - cl) recognizing, by means of an optical system, the distance between said position of said securing member at the end of the phase b) and the vertical axis of said container; - c2) calculate the movements to be made articulated arm to position said securing member above the container, aligned with its vertical axis; - c3) automatically activate, through the computerized system, the movements calculated in the sub-phase c2.) Suitably, the phase c) further comprises the following sub-phase: - c4) memorize the movements made in the sub-phase c2. -phase c3. Advantageously, the phase e), which consists in lifting vertically said securing member jointly to the container, while maintaining the container substantially vertical, is carried out until the container is raised to a predetermined height H1, greater than the height. the upper edge of the storage body relative to the ground; Preferably, phase b) comprises a sub-phase consisting of: - b1) storing the movements made by the articulated arm in said phase.

Suitably, phase f) comprises the following sub-phases: f1) recognition, by the computerized system, that said container is positioned above the waste storage body 5 in a position adapted for emptying; - f2) actuation, by the computer system, said emptying flap. Suitably, the method according to the present invention comprises, prior to step b), a step of: 1) extracting the securing member from a predefined rest position on said motor vehicle. Preferably, the phases h) and I) are performed automatically from the computerized system, by remaking the articulated arm movements memorized in phases b) and c). Suitably, the phases h) and I) are performed by said computerized system, causing the movements stored in phases b) and c), modified by a correction coefficient to avoid interferences, to be repeated with the articulated arm. Advantageously, the phase b) of manipulation of the articulated arm to approach said securement member at a predetermined distance D1, with respect to the container to be emptied, is controlled and carried out by the operator, by means of a servo control. assisted. In another aspect, the present invention relates to an apparatus for handling waste containers and for emptying their contents, comprising: a motor vehicle comprising at least one waste storage body; at least one articulated arm carried by the motor vehicle; at least one lashing member, disposed at one end of said articulated arm; said articulated arm comprising: first means for supporting the securing member; second means for vertically translating at least said first means, defining a longitudinal extension axis (X-X); third means for containing said second means; fourth means for producing rotation of said third means in a vertical plane. said second means are slidably coupled to said third means, so that said second means is able to take, with respect to said third means, at least: a first position, wherein a sensitive portion of said second means is housed, at least 20 partially within said means; and a second position in which a sensitive portion of said second means is resilient with respect to said third means; said first means are mounted for rotation relative to an axis perpendicular to the longitudinal extension axis (X-X) of said second means, characterized in that it comprises: at least one computerized system for manipulating said articulated arm. Suitably, the apparatus comprises an optical system for detecting the positioning of the securing member and the container and transmitting to the computerized system information for calculating the movements to be made to the articulated arm, for positioning said securing member above the container, aligned with its vertical axis; Preferably, the optical system comprises at least a first camera for detecting the positioning of the securing member and the container. Advantageously, the optical system comprises at least a second camera and a screen for controlling the path of the container during the handling and emptying operations of said container. Suitably, the apparatus comprises a container recognition sensor. Preferably, the articulated arm comprises fifth support means of said first means, fixed to said second means, so as to rotate relative to an axis perpendicular to the longitudinal extension axis (X-X) of said second means. The method and apparatus according to the present invention allow: - to no longer depend on the skill and experience of the operator; to the operator, to be able to remain inside the cabin of the motor vehicle in the event of bad weather and / or extreme climates; - eliminate the possibility of damage to the container or the buried housing, due to operator errors; to obtain extreme flexibility of use, also for semi-buried or surface containers. Other features and advantages of the invention will become more apparent in the detailed description of certain preferred but not exclusive embodiments of a method and an apparatus for handling waste containers and for emptying their contents. according to the present invention.

This description will be explained below with reference to the accompanying drawings, provided for purely indicative and therefore non-limiting purposes, in which: - Figure 1 is a schematic view of the positioning phase of the motor vehicle near the 10 container to empty - Figure 2 is a schematic view of the handling phase of the articulated arm; FIG. 3 is a schematic view of the vertical lifting phase of the lashing member together with the container to be emptied; FIG. 4 is a schematic view of the positioning phase of the container to be emptied over the body of the container; waste storage of the motor vehicle; and FIG. 5 is a schematic view of the repositioning phase of the container to be emptied inside its housing. Referring to FIGS. 1 to 5, an apparatus for handling waste containers and for emptying their contents according to the present invention is identified by the reference 100. The apparatus 100 comprises a motor vehicle 2, such as a truck, comprising at least one waste storage body 3, located on the motor vehicle 2 and at least one articulated arm 4 carried by the motor vehicle 2 and, generally, located between the driver's cab of the motor vehicle 2 and the body 3 for storing waste. The apparatus 100 has, in addition, at least one securing member 5 for hanging the waste containers 16. There are various securing members 5, and for example, a member which adapts particularly well to the present invention is the securing device described in EP0399280 in the name of Kinshofer. However, it would be possible to mount different securing members, without departing from the scope of protection of the present invention. The securing member 5 is disposed at one end of the articulated arm 4, in particular at the end opposite to that by which the articulated arm 4 is fixed to the motor vehicle 2. In the embodiment indicated in FIGS. at 5, the articulated arm 4 has: first means 7 for supporting the securing member 5; second means 8 for the vertical translation of at least the first means 7, defining a longitudinal extension axis (X-X); third means 9 for containing the second means 8; fourth means 10 for producing the rotation of said third means in a vertical plane. The second means 8 are slidably coupled to the third means 9. For this purpose, the second means 8 are telescopically coupled to the third means 9, so that the second means 8 are able to take, relative to the third means. at least: a first position, shown in solid lines in Fig. 2, wherein a sensitive portion of the second means 8 is housed, at least partially, within the third means 9; and a second in FIG. 2, second middle means 9. The first ones with respect to an arrangement, shown in dashed lines in which a sensitive part of the 8 springs relative to the thirds.

means 7 are mounted, so as to rotate axis perpendicular to the axis of longitudinal extension (XX) of said second means 8. In detail, in the embodiment shown in the figures, the first means 7 are attached to fifth means 11, interposed between the first means 5 and the second means 8. The fifth means 11 are in turn fixed at 12 to the second means 8, so as to be rotatable about an axis perpendicular to the longitudinal extension axis (XX ) of said second means 8. The motor vehicle 2 has, in addition, in a known manner, stabilizing devices not shown in the figures.

According to an important aspect of the present invention, the apparatus 100 has an optical system 13 for detecting the positioning of the securing member 5 and the container 16 and transmitting to a computerized system the information enabling it to calculate the movements to be made. articulated arm 4, to position the lashing member 5 above the container, perfectly aligned with its vertical axis YY. For this purpose, the optical system 13 comprises at least a first camera, not shown in the figure, for detecting the positioning of the securing member 5 and the container 16, and a transmission module, not shown in FIG. connected to a receiving module of the computerized system, to which information will be sent to calculate the movements to be made to the articulated arm 4, in order to position the lashing member 5 above the container, perfectly aligned with its vertical axis YY. To make the computer system recognize that the securing member 5 has come into contact with the container 16, in particular with its part devoted to this function (input rod 21), there is a container recognition sensor 16. The sensor recognition, not shown in the figure, can be mounted on the container 16 or alternatively on the securing member 5. To control that during handling of the container 16 to the waste storage body 3 and its return in the working position, there is no shock or interference with obstacles, the optical system 13 comprises at least a second camera 17, preferably two, and a control screen, invisible in the figure, mounted to 2. In FIGS. 1 to 5, are indicated some phases of the process for the handling of waste containers and for the emptying of their contents, according to the present invention, which uses the apparatus.described above.

In detail in Figure 1, we see a phase of approaching the motor vehicle 2 to the container 16 to empty. In this phase, the motor vehicle 2, intended for emptying, approaches the container 16 to be emptied at a useful distance. This distance is chosen at the discretion of the driver, depending on the limits of action of the crane. Once the motor vehicle 2 stopped, near the container 16, by means of an ad hoc parking brake, the stabilizers of the motor vehicle 2 are actuated to minimize bending of said vehicle, in the container lifting phase 16. The operation can be performed by the computerized system or even manually by the operator who does not need to get off the vehicle, thanks to the presence of the second cameras 17 and the control screen. At the end of this first phase, the articulated arm 4 is actuated by the computerized system to extract the securing member 5 from a predefined rest position, formed on the motor vehicle 2. Once the body of stowed 5 extract, the operator manipulates the articulated arm 4 to approach the securing member at a predetermined distance Dl, with respect to the container 16 to empty, positioned in a working position. Preferably, the predetermined distance D1 is less than 3 m, preferably less than 2 m, for example equal to about 1.5 m with respect to the vertical axis YY of the container 16. During this approach phase, the system computerized memorizes the operations that the operator makes the articulated arm 4. According to an important aspect of the present invention, the operator performs this operation, by manually actuating control commands of the articulated arm 4, assisted by the second camera 17 and from the control screen. Preferably, the operation or phase of manipulation of the articulated arm 4, to approach the securing member 5 at a predetermined distance D1, with respect to the container 16 to be emptied, is controlled and carried out by the operator, at the using a servo-assisted control. This is a command that allows, through a support program, to combine together two or more directions of manipulation of the articulated arm, such as, for example, a control system, joystick type.

At this point, the computerized system comes into operation again and proceeds to the positioning of the securing member 5 above the container and its alignment to its vertical axis Y-Y. In order to carry out this phase, the method provides the sub-phases consisting of: (c) recognizing, by means of an optical system, the positioning distance D 2, between the position in the space of said securing member 5, the end of the handling phase performed by the operator, and the vertical axis (Y-Y) of said container 16; c2) calculate the movements to be made to the articulated arm 4, in order to position the securing member 5, above the container 16, aligned with its vertical axis (Y-Y); - c3) activate, automatically through the computerized system, the movements calculated in the sub-phase c2). - C4) memorize the movements made in said phase c3. In order to carry out this phase, the computerized system 25 receives information from the optical system, which enables it to identify the container and the positioning distance D2, between the position of the securement member 5 at the end of the handling carried out by the operator and the vertical axis of the container 16. In the embodiment shown in the figure, we see the vertical axis YY and the axis of symmetry of the gripping rod 21 of said container 16.

In detail, the information captured by the optical system, through the first camera, is transferred, via transmission and reception modules, to the computerized system for processing.

The computerized system calculates the movements to be made to the articulated arm 4, in order to position the securing member 5 above the container 16, aligned with its vertical axis Y-Y, and it actuates for this purpose the articulated arm 4.

The position reached, that is to say the good positioning of the securing member 5 above the container 16, aligned with its vertical axis YY, is the result of the calculation made by the computerized system relative to the level of the field and at the height of the gripping rod 21 of the container 16, relative to the ground (noted above, after the pointing). During this manipulation to bring the lashing member above the container 16, aligned with its vertical axis YY, the computerized system stores the movements that are made to the articulated arm 4. Once recognized, using of the optical system, that the securing member 5 is aligned with the vertical axis YY of the container 16, the computerized system proceeds to the lowering of the securing member 5 and the lashing of the container 16, With the aid of the securing member 5. In this phase, the computerized system "reads" and adjusts the vertical distance that it must travel to the securing member 5 to reach the gripping rod 21 container 16, also depending on the position of the motor vehicle 2 (example of the road slope). Even during the descent of the securing member 5 to come into contact with the gripping rod 21 of the container 16, the computerized system memorizes the descent. The computerized system recognizes that it is in contact with the container, in particular with its gripping rod 21, by means of a container recognition sensor 16, provided on the securing member 5 or, alternatively, on the gripping rod. 21. At this stage, the computerized system controls the articulated arm 4 to lift vertically the securing member 5, together with the container 16, maintaining the container 16 substantially vertically, see Figure 3. The vertical lifting phase of the securing member 5 together with the container 16, while keeping the container 16 substantially vertical, is carried out until the container 16, completely out of its housing 22, is raised to a predetermined height H1, greater than the height of the edge upper 23 of the storage body 3 relative to the ground. At this stage, the computerized system proceeds with the rotation of the articulated arm 4, in order to bring the container to empty 16, above the waste storage body 3, Figure 4. Once the container to be emptied 16 is at above the waste storage body 3, the computerized system recognizes, with the aid of the optical system, that the container 16 is in a suitable position for emptying and actuates the flaps, or flaps, of the container 16, provided on the the bottom of the latter, to allow the waste to flow into the waste storage body 3. Preferably, the computerized system launches at least two cycles of closing / opening of the emptying flaps to ensure the perfect functioning of the container 16. Once the emptying operation is completed and the empty flaps closed, the computer system actuates the articulated arm 4 to bring the emptied container 16 above the working position. By the term "working position" for the purposes of the present invention is meant the position in which the waste container 16 carries out its waste collection, in the case of buried waste containers 16, this position is represented by the positioning said container inside the housing 22 buried.

At this stage, the computerized system lowers the emptied container 16 to return it to its working position, namely, in the case illustrated in FIGS. 1 to 5, inside its housing 22. The movements of the articulated arm 4 vertical rise of the securing member 5 with the container 16, rotation and optionally translation thereof to bring the container 16, above the storage body 3, and the return movements of the container 16 above the working position and the descent back into the housing 22, are performed automatically by the computerized system, making re-travel to the articulated arm 4 memorized movements during the previous phases of approach of the securing member 5 from the predefined rest position to the input rod 21.

This countdown run by the computerized system, by re-traversing the articulated arm movements stored in the previous phases, may be optionally modified by a correction coefficient, to avoid interference or shock of the container 16 or the articulated arm 4 with environmental obstacles. This correction coefficient depends on certain variations introduced by the operator during the preceding stages of approaching the securing member 5 from the predefined rest position to the gripping rod 21, aided by the second camera 17 and the control screen.

The container 16 being put back into its housing, the computer system unhooks it and controls the articulated arm 4, so that the securing member 5, based on the previously stored paths, returns to its predefined rest position, arranged on the motor vehicle 2.

This last operation performed, an alarm signal will inform the operator that the operations are completed. The operator can therefore control the return of the stabilizers and the unlocking of the motor vehicle so that he can leave.

The present invention has been described with reference to certain embodiments. Various modifications may be made to the embodiments described in detail, however remaining within the scope of protection of the invention, defined by the following claims.

Claims (16)

REVENDICATIONS1. A method for handling waste containers and for emptying their contents by means of a device comprising: - a motor vehicle (2) comprising a waste storage body (3); - At least one articulated arm (4) carried by said motor vehicle (2); at least one lashing member (5) disposed at one end of said articulated arm (4); A computerized system for manipulating said articulated arm (4); said method comprising the steps of: - a) positioning the motor vehicle (2) near the container (16) to be emptied; B) manipulating the articulated arm (4) to approach said securing member (5) at a predetermined distance D1 with respect to the container (16) to be emptied, positioned in a working position; - c) position said lashing member (5) above the container (16), aligned with its vertical axis (Y-Y); -d) lowering said lashing member (5) and hooking said container (16) by means of said lashing member (5), by said computerized system; e) vertically lifting said securing member (5) together with said container (16), keeping said container (16) substantially vertical; - f) turn the articulated arm (4) to cause the container to empty above the waste storage body (3); 30 - g) emptying the contents of said container (16) into the interior of the waste storage body (3); - h) rotate the articulated arm (4) again to bring the container (16) emptied above the working position; i) lowering the emptied container (16) back into its working position; characterized in that: - the phase b) of manipulation of the articulated arm (4) to approach said securing member at a predetermined distance Dl, with respect to the container to be emptied, is controlled and performed by the operator; while - phases c) to i) are performed automatically by the computerized system. 2. A method for handling waste containers and for emptying their contents according to claim 1, characterized in that phase c) comprises the sub-phases consisting in: - cl) recognizing, via a system optical, the positioning distance D2, between said position of said securing member (5) at the end of the phase b) and the vertical axis (YY) of said container (16); - c2) calculate the movements to be made to the articulated arm (4), in order to position said lashing member (5) above the container (16) aligned with its vertical axis (Y-Y); - c3) automatically implement by the computerized system the movements calculated in the sub-phase c2). 3. A method for handling waste containers and emptying their contents according to claim 2, characterized in that phase c further comprises the sub-phase consisting of: - c4) storing the movements made in said phase c3. 4. A method for handling waste containers and emptying their contents according to any one of the preceding claims, characterized in that the phase e) of vertically lifting said securing member (5) together with said container (16), while keeping said container (16) substantially vertical, is carried out until the container (16) is lifted to a predetermined height H1, greater than the height of the upper edge (23) of the waste storage body (3) in relation to the terrain. 5. A method for handling waste containers and emptying their contents, according to any one of the preceding claims, characterized in that said phase b) comprises a sub-phase: - bl) memorize the movements made by the articulated arm in said phase b). 6. A method for handling waste containers and emptying their contents, according to any one of the preceding claims, characterized in that the phase g) comprises the following sub-phases - g1) recognition, by the computerized system , because said container (16) is positioned above the waste storage body (3) in a position adapted to emptying; - G2) actuation, by the computer system, of at least one emptying flap. 7. A method for handling waste containers and emptying their contents, according to any one of the preceding claims, characterized in that it comprises, before phase b, a phase consisting in: 1) extracting the securing member of a predefined derepos position on said motor vehicle (2). 8. A method for handling waste containers and emptying their contents according to any one of the preceding claims, characterized in that the phases h) and i) are performed automatically by said computer system, making re-browse articulated arm (4) the movements stored in phases b) and c). 9. A method for handling waste containers and emptying their contents according to claim 8, characterized in that the phases h) and i) are performed automatically by said computerized system by re-traversing the articulated arm movements stored in phases b) and c), modified by a correction coefficient, to avoid interference. 10. A method for handling waste containers and emptying their contents, according to any one of the preceding claims, characterized in that phase b), of manipulating the articulated arm (4) to approach said body d stowage at a predetermined distance D1, with respect to the container to be emptied, is controlled and carried out by the operator, by means of a servo-assisted control. Apparatus (100) for handling waste containers and for emptying their contents, comprising: - a motor vehicle (2) comprising at least one waste storage body (3) (3); - At least one articulated arm (4) carried by said motor vehicle (2); At least one lashing member (5) disposed at one end of said articulated arm (4); said articulated arm comprising: - first means (7) for supporting the securing member (5); second means (8) for the vertical translation of at least said first means (7), defining a longitudinal extension axis (X-X); third means (9) for accommodating second means (8); fourth means (10) for producing the rotation of said third means (9) in a vertical plane; Said second means (8) are slidably coupled to said third means (9) so that said second means (8) is able to take, with respect to said third means (9), at least: - a first position in wherein a substantial portion of said second means (8) is housed, at least partially, within said third means (9); and a second position, in which a substantial portion of said second means (8) is resilient with respect to said third means (9); said first means (7) are mounted so as to rotate with respect to an axis perpendicular to the axis of longitudinal extension (XX) of said second means (8), characterized in that it comprises: at least one computerized system for manipulating said articulated arm (4). 12. Apparatus (100) for handling waste containers and for emptying their contents according to claim 11, characterized in that it comprises an optical system for detecting the positioning of the securing member (5). and the container (16) and transmit to the computerized system the information for calculating the movements to be made to the articulated arm (4), in order to position said lashing member above the container. 13. Apparatus (100) for handling waste containers and emptying their contents, according to claim 12, characterized in that said optical system comprises at least a first camera for detecting the positioning of the lashing member. (5) and the container (16). 14. Apparatus (100) for handling waste containers and emptying their contents, according to claim 12, characterized in that said optical system comprises at least a second camera (17) and a screen for controlling the path of the container. container (16) during the handling and emptying operations of said container. 15. Apparatus (100) for handling waste containers and emptying their contents, according to any one of claims 11 to 14, characterized in that it comprises a container recognition sensor "16). 16. Apparatus (100) for handling waste containers and emptying their contents, according to any one of claims 11 to 15, characterized in that said articulated arm (4) comprises fifth means (11) of supporting said first means (7), attached to said second means (8), for rotating relative to an axis perpendicular to the longitudinal extension axis (XX) of said second means (8).