Waste disposal vehicle with at least one feed device for containers

Abstract

Waste disposal vehicle (1) with at least one vehicle-mounted receiving container (2) for residual materials, recyclables or the like and with at least one feeding device (3) for receiving and transferring material to be disposed of to the receiving container (2), wherein the waste disposal vehicle (1) is equipped with at least one camera (18;19) monitoring the area of ​​the feeding device (3) and an image evaluation unit is arranged downstream of this camera which can cause a function stop based on the recorded image, characterized in that the image evaluation unit causes an alarm and / or a function stop in the event of critical changes in the recorded image, wherein the changes in the image include the intrusion of moving objects into a detected monitoring area (21;22;23;24a;24b) or the movement of objects already in the monitoring area (21;22;23;24a;24b) relate to objects located therein and the movement of the object(s) is recorded and evaluated with regard to speed and direction.;

Description

[0001] The invention relates to a waste disposal vehicle with at least one vehicle-mounted receiving container for residual materials, recyclable materials or the like and with at least one feeding device for receiving and transferring goods to be disposed of to the receiving container according to the preamble of claim 1.

[0002] When collecting household waste, industrial waste, residual materials that have passed through a recycling sorting plant, paper, slag or other aggregates, or similar materials provided in rigid containers or bags using waste collection vehicles, there is an increasing demand for more efficient disposal methods. These methods should enable the collection and transport of the materials with minimal personnel and time expenditure. Furthermore, these vehicles should be able to pick up and empty a wide variety of containers. The emptying process should be as fast as possible to allow for the emptying of as many containers as possible during a single route. In particular, it is desirable that the driver of the vehicle, as the sole operator, also controls the operation of the feeding device for picking up and emptying the containers, or similar equipment.

[0003] To enable this, for example with side-loading vehicles, the driver's seat is usually located on the right side of the vehicle, allowing the driver to visually monitor a right-reaching feed mechanism and, in particular, to stop the operation if people approach the danger zone. However, such visual monitoring requires a special chassis, which is expensive. In particular, it has been observed that the body and the chassis wear differently. A used chassis of this type is difficult to sell on the market, as its applications are very limited.

[0004] It is therefore desirable to be able to equip a waste disposal vehicle of the aforementioned type, especially as a side loader, with a standard, left-hand drive truck chassis. However, in this configuration, the driver has limited visibility to the right.

[0005] In EP 1674 411 A1, the camera 21 of the second embodiment therein merely generates an optical image without triggering an alarm or any other technical detection of objects entering a danger zone. Detection is instead achieved via separate control means that measure the time of flight of light. Therefore, additional technical measures are required in every case, resulting in a high level of technical complexity.

[0006] The invention is based on the problem of improving the operational safety of waste disposal vehicles.

[0007] The invention solves this problem by means of a waste disposal vehicle with the features of claim 1. Regarding advantageous embodiments, reference is made to further claims 2 to 10.

[0008] The disposal vehicle according to the invention provides double safety by being equipped with at least one camera monitoring the area of ​​the feed device and a subsequent image evaluation unit that triggers an alarm and / or a function stop in the event of critical changes in the recorded image: On the one hand, the driver can view the at least one recorded image on a screen for his own monitoring; on the other hand, the automated registration of moving objects enables the driver-independent detection of a potential danger, to which the system can then automatically react with an alarm and / or an independent stop of further device movement, thus independent of the driver.

[0009] In particular, changes in the image can detect the entry of moving objects into a captured area and / or the movement of objects already within the frame. This ensures that even objects already within the frame and initially stationary (for example, people or animals) will trigger an alarm as soon as they begin to move. The image can be monitored at intervals, for example, every tenth of a second, so that changes in the recorded image, i.e., the movement of objects, can be detected very quickly, resulting in a significant increase in safety.

[0010] The movement of the object(s) can be detected and analyzed particularly effectively according to speed and direction. This allows the system to react with an emergency stop if a fast-moving object (such as a cyclist) enters the monitored area, whereas for a slower-moving object, such as a pedestrian, an acoustic signal to the operator may suffice, allowing the operator to decide whether and when to stop the device. With direction detection, the system can also automatically determine whether the object entering the monitored area will leave again without entering the immediate danger zone of the feeder, thus allowing its movement to continue, or whether an alarm or a stop is necessary.

[0011] This direction and speed detection system can advantageously trigger an alarm and / or a function stop for a relatively distant object approaching the monitored area, particularly the working area of ​​the feeding device, at high speed. Conversely, an alarm and / or a function stop can be triggered for an object located close to the monitored area, particularly the working area of ​​the feeding device, even if it is moving slowly. Furthermore, it is also possible for an alarm and / or a function stop to be triggered if an object is within a critical proximity zone of the monitored area, particularly the working area of ​​the feeding device, even if the object is not moving at all or is moving away from the monitored area.This allows a zone to be declared an absolute restricted area where no one is allowed to be during operations - and if someone is, the system can react immediately and automatically.

[0012] A particularly advantageous feature is that the camera, at least those associated with the feeding device, does not interpret the movement of the feeding device itself as an image change. Specifically, the complete movement sequence of the feeding device – when recording different container types and quantities – can be pre-programmed into a learning program by the image analysis unit. This allows all "normal" processes to be replicated in a motion environment that remains unchanged throughout the process, without triggering an alarm.

[0013] Ideally, at least one camera each is provided for front, rear, and side monitoring of the vehicle, enabling all-around surveillance. A so-called bird's-eye view can also be displayed on the screen, particularly if, at the edges of the image capture, a connection area to the image of the next camera is calculated and adjusted so that the area surrounding the vehicle is completely covered. This area can, for example, typically have a width of 2 to 5 meters.

[0014] For collecting containers positioned parallel to the roadside, it is particularly advantageous if at least one infeed device is located on one side of the waste collection vehicle, making it a side loader. A loading device from the front or rear can be provided additionally or alternatively. With a side loader, automated emptying can be carried out by a single operator, which is very efficient and covers a wide range of container sizes. A side loader design also allows for a shorter overall length. The loading opening can be wide enough along the length of the waste collection vehicle to accommodate four-wheeled containers with a capacity of 1.1 cubic meters or larger, e.g., 2.3 or 3.2 cubic meters, as well as two-wheeled containers with a capacity of, for example, 60 to 360 liters.

[0015] In this particular case, the monitored area around the waste disposal vehicle may be asymmetrical and enlarged in the area of ​​the side feed device. For example, the width of the monitored area around the vehicle may be five meters, while to the front or rear it may only be two meters.

[0016] Further advantages and features of the invention will become apparent from exemplary embodiments of the subject matter of the invention, some of which are illustrated in the drawing and described below.

[0017] The drawing shows: Fig. 1 A schematic side view of a waste disposal vehicle according to the invention - here designed as a side loader - with the possibility of emptying various types of containers, such as four- or two-wheeled containers, Fig. 2 a schematic top view of a waste disposal vehicle according to Fig. 1, where the camera positions and the areas monitored around the vehicle are indicated - in symmetrical and asymmetrical configurations, Fig. 3 A perspective view, seen from an oblique side view, of the highlighted feed device which empties into a vehicle-side hopper, wherein a large container is lifted and shown in an upside-down position during its emptying and wherein an additional camera is shown on the feed device.

[0018] The in Fig. The waste disposal vehicle shown in Figure 1 is designed here as an example of a self-propelled vehicle. Alternatively, a towed vehicle as a trailer or semi-trailer can also be considered and designed according to the invention.

[0019] The drawn waste disposal vehicle 1 includes at least one receiving container 2 for residual materials or recyclables, for example for household waste, industrial waste, residual materials that have passed through a recycling sorting plant, paper, glass, slag or other additives or similar materials or bulky waste provided in particular in rigid containers or also in bags.

[0020] Furthermore, the disposal vehicle 1 comprises at least one self-contained movable feed device for these substances, designated as 3, wherein the feed device 3 is designed for overhead emptying of, in particular, large and / or two-wheeled containers 4, 5, 6 and conveying the collected material via a pouring opening 9 towards the vehicle-supported receiving container 2.

[0021] The receiving container 2 can be emptied, for example, by swinging it upwards on one side via a rear door - not shown in detail here.

[0022] According to the schematic drawing, a feeding device 3 is assigned to a transverse side of the vehicle 1, so that it forms a so-called side loader. This allows the feeding device 3, located laterally to the vehicle 1, to grasp the large and / or two-wheeled containers 4, 5, 6 with a movement extending transversely to the direction of travel F.

[0023] For example, a front loader can also be used additionally or alternatively in a similar arrangement of receiving container 2 and feeding device 3. In this case, the receiving container 2 could be filled by a device extending over the driver's cab 7, with containers being turned upside down during emptying.

[0024] The side loader shown here comprises at least one upwardly movable support arm 8b with one or more receiving device(s) 8 for optionally two-wheeled and / or large containers 4, 5, 6. According to the illustration according to Fig. 1. The receiving device 8 comprises a so-called toothed or comb-like strip. The receiving device 8 is positioned flat and thus space-savingly parallel to the side of the vehicle. Extending arms are not required. The receiving device(s) 8 can each engage at least one collar of a large container 4 to be received – or several two-wheeled containers 5, 6 side by side. By raising the support arm 8b, the containers 4, 5, 6 can then be emptied overhead into the pouring opening 9 of the feed device 3, as for example in Fig. Figure 3 shows a large container 4. The container(s) 4, 5, 6 is / are secured by a clamp-like hold-down device 20 that pivots downwards about a horizontal axis.

[0025] The pouring opening 9 can form one large opening, for example rectangular, or be divided into several partial openings.

[0026] The pouring opening 9 allows the emptying of various containers, for example the emptying of a large container 4 with a capacity of approximately 2.3 or 3.2 cubic meters, as in Fig. 3 shown, or a medium-sized container with a capacity of approximately 1.1 cubic meters, or one or two two-wheeled containers, each with a capacity of 80 to 360 liters, as shown in Fig. 2 is indicated.

[0027] In order to also be able to lift the aforementioned large containers 4 via the comb bar or a similar receiving device 8 engaging on the vehicle-facing side of the container 4, pockets 11 are additionally provided below the engagement point of the receiving device 8 on the rear of the large container 4. Hook parts 12 engage into these pockets, thereby creating a second, parallel securing level for the large container 4 at the level of a stop bar 8a below the receiving device 8, which is designed as a comb bar. On its side facing the waste disposal vehicle 1, the large container 4 is thus held by two lines spaced at a height difference from each other and secured against tipping over when turned over.

[0028] The protruding teeth of the receiving device 8 are designed to grip under parts of a collar of the containers 4, 5, 6 to be received during lifting and setting down as part of the emptying process.

[0029] The waste disposal vehicle is equipped with at least one camera 15, 16, 17, 18, 19 monitoring the area of ​​the feed unit. One camera 15, 16 is oriented forward and one rearward, as well as two additional cameras 17, 18 oriented laterally. A further camera 19 is mounted on the feed unit 3 and is described in more detail below.

[0030] Each camera is assigned an automated image evaluation unit - a common image evaluation unit for all cameras is also possible, for example for a time-controlled query of the images one after the other.

[0031] At least four cameras 15, 16, 17, 18 are assigned to the upper edges of the vehicles and monitor a monitoring area 21 in front of the waste disposal vehicle 1 or 22 behind the waste disposal vehicle 1, 23 to the left of and 24a or an enlarged monitoring area 24b to the right of the waste disposal vehicle 1 (in Fig. 2 shown).

[0032] As soon as the image evaluation unit(s) detects a change in the captured image that is deemed critical, an audible and / or visual alarm is automatically triggered without any input from the driver. The driver can then react to this alarm, and / or the system may immediately shut down. Different reactions for different scenarios can be pre-programmed. For example, in the case of a side-loading vehicle, the entry of a person into the right monitoring area 24a, 24b can trigger an immediate shutdown, whereas the entry of a person into the left monitoring area 23 while the vehicle is stationary 1 is only reported to the driver.

[0033] The changes registered by cameras 15, 16, 17, 18, and 19 are those relating to the entry of moving objects into a monitored area 21, 22, 23, 24a, or 24b, or the movement of objects already located within the monitored area 21, 22, 23, 24a, or 24b. This means that each camera, e.g., the right-facing camera 18, first captures an image of the monitored area, e.g., 24a or 24b, and uses it as the reference for that area. The monitored area is then evaluated at short intervals, particularly during operation of the feed unit 3. As soon as a sufficiently large change occurs compared to the reference image—meaning, for example, that a branch moving in the wind would not constitute such a change—the aforementioned sequence is automatically triggered by the image evaluation unit.

[0034] The system uses time-based image capture to detect and analyze the movement of objects in terms of speed and direction. For example, it can distinguish a pedestrian from a cyclist and thus estimate when a person moving in this way will come dangerously close to an operating feed unit 3. This allows an alarm to be delayed until there is actually an immediate danger or until the person has changed direction and left the monitored area 21, 22, 23, 24a, 24b. This ensures the effectiveness of the emptying processes and avoids unnecessary false alarms.

[0035] This can trigger an alarm and / or a function stop in the case of a relatively distant object that is approaching the area to be monitored, especially the working area of ​​the feed device, at high speed (in Fig. 2 (where the path of this person is indicated by the double-dash-dotted line 25), an alarm or function stop is triggered at point 25.1 due to the high speed.

[0036] On the other hand, an alarm and / or function stop can only be triggered by an object located very close to the area to be monitored, in particular the working area of ​​the feed device 3, if this object is moving only slowly (in Fig. 2 (indicated by the single dashed line 26), where the alarm or function stop is only triggered at point 26.1.

[0037] In any case, an alarm and / or a function stop can be triggered if an object is located within a critical proximity area 27 in the monitored area, in particular the monitoring area 24a, which forms the working area of ​​the feed device 3, even if the object is not moving at all or is moving away from the monitored area. Any presence of an object in this proximity area 27 can then be met by the image evaluation unit with an immediate function stop – i.e., a standstill of all moving mechanisms.

[0038] Particularly advantageous is the fact that the movement of the feeder 3 itself is not evaluated as an image change by at least the camera 18, 19 assigned to the feeder 3. This applies both to the feeder 3 itself and to the containers 4, 5, 6 to be grasped, whose respective shapes, sizes, and varying numbers can be taught to the image evaluation unit in learning programs. In this way, the gripping, lifting, and emptying of the container(s) 4, 5, 6 by the feeder 3 is indeed perceived by the camera(s) 18, 19, but is not reported as a disruption of the normal process.

[0039] In the embodiment shown here, at least one camera 15 is provided for the front, 16 for the rear, and 17 and 18 for each side of the waste disposal vehicle 1. In the peripheral areas of their image capture (indicated by dashed lines), a connection area to the image of the next camera 15, 16, 17, 18 is set and calculated so that the area completely surrounding the vehicle is captured. A single screen in the driver's cab 7 can also suffice to provide a so-called top view with all-around monitoring, similar to that in Fig. 2 indicated, to be shown.

[0040] As in Fig.As indicated in 2, the detected monitoring area 21, 22, 23, 24b around the vehicle can be asymmetrical and in the area of ​​the lateral feed device 3 can be changed from symmetrical detection to the enlarged monitoring area 24b in order to take account of the particular hazard in the immediate vicinity 27 of the feed device 3.

[0041] Even when a front loader is fitted (not shown here), an asymmetry is possible insofar as the front monitoring area 21 may then be enlarged.

[0042] The additional camera 19 can be mounted directly on an arm of the feed unit 3 and thus assist the driver, for example, in precisely approaching a container 4, 5, 6 to be picked up. Container recognition is also possible via this camera.

[0043] In addition to the built-in cameras 15, 16, 17, 18, 19, radar or ultrasound monitoring is also possible, as is thermal imaging, in order to distinguish living objects from inanimate matter.

[0044] The monitoring system can be active both when the waste disposal vehicle 1 is stationary, in operation, and moving slowly, so that even during shunting operations, objects entering a danger zone can be detected. This also improves safety, especially when the vehicle is operated by a single person.

Claims

[1] Waste disposal vehicle (1) with at least one vehicle-mounted receiving container (2) for residual materials, recyclable materials or the like and with at least one feeding device (3) for receiving and transferring waste to the receiving container (2), wherein the waste disposal vehicle (1) is equipped with at least one camera (18;19) monitoring the area of ​​the feeding device (3) and an image evaluation unit is arranged downstream of it which can cause a function stop based on the recorded image, characterized by, that the image evaluation unit triggers an alarm and / or a function stop in the event of critical changes to the recorded image, wherein the changes to the image concern the intrusion of moving objects into a detected monitoring area (21;22;23;24a;24b) or the movement of objects already in the monitoring area (21;22;23;24a;24b) and the movement of the object(s) is detected and evaluated according to speed and direction. [2] Waste disposal vehicle (1) according to claim 1, characterized by , that an alarm and / or function stop is triggered by a relatively distant object (25.1) that is approaching the area to be monitored, in particular the working area of ​​the feed device (3), at high speed. [3] Waste disposal vehicle (1) according to one of claims 1 or 2, characterized by, that an alarm and / or function stop is triggered when an object (26.1) is located near the area to be monitored, in particular the working area of ​​the feed device (3), is moving slowly. [4] Waste disposal vehicle (1) according to one of claims 2 to 3 , characterized by , that an alarm and / or function stop is triggered when an object is located within a critical area (27) in the area to be monitored, in particular the working area of ​​the feed device (3), even if the object does not move at all or moves away from the area to be monitored. [5] Waste disposal vehicle (1) according to any one of claims 2 to 4, characterized by , that the movement of the feed device (3) itself is not evaluated as an image change by the camera (18;19) assigned to at least one of the feed device (3). [6] Waste disposal vehicle (1) according to any one of claims 1 to 5, characterized by , that at least one camera (15) is provided for front, (16) rear, and (17;18) for each transverse side monitoring of the waste disposal vehicle (1) and that in the peripheral areas of their image capture a connecting area to the image of the next camera (15;16;17;18) is set and calculated in such a way that a space surrounding the vehicle is completely captured. [7] Waste disposal vehicle (1) according to any one of claims 1 to 6, characterized by , that a feed device (3) is assigned to a transverse side of the vehicle (1) and that this forms a side loader. [8] Waste disposal vehicle (1) according to claim 7, characterized by , that the monitored area around the disposal vehicle (1) is asymmetrical and enlarged in the monitoring area (24b) of the lateral feed device (3). [9] Waste disposal vehicle (1) according to any one of claims 1 to 8, characterized by, that the disposal vehicle (1) forms a front loader and the front monitoring area (21) is enlarged. [10] Waste disposal vehicle (1) according to any one of claims 1 to 9, characterized by , that at least four cameras (15;16;17;18) are assigned to the upper edges of the vehicle.

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