Collection container and method for monitoring a loading region

Abstract

The invention relates to a collection container (1) for a refuse vehicle for collecting refuse. The collection container (1) comprises an inlet opening (4) located in a YZ plane of an orthogonal XYZ coordinates system and having a monitoring device (20) for monitoring a loading region (8) in front of the inlet opening (4). The monitoring device (20) has at least one first and at least one second monitoring unit (30, 40) with first and second detection areas (32, 42a, b), wherein the first and second detection areas (32, 42a, b) at least partially overlap and wherein at least the first and the second monitoring units (30, 40) are independent from one another.

Description

[0001] The present invention relates to a collection container for a refuse vehicle according to the preamble of claim 1, and to a corresponding method for monitoring a loading area located in front of a pouring opening.

[0002] Municipal services and private companies use garbage trucks to collect waste from consumers and then transport it to landfills or for further processing. Consumers regularly collect their waste in garbage containers, also known as bins.

[0003] Garbage trucks typically have collection containers with a tipping opening through which the waste enters the container. A discharge device is located at the rear of the container, which automatically or semi-automatically lifts the waste containers, moves them to the tipping opening, and empties their contents into the collection container. The discharge device includes at least one lifting mechanism that grips and moves the waste containers. A corresponding garbage truck is known, for example, from EP 1 619 143 B1.

[0004] The prior art incorporates various provisions designed to enable automated emptying of waste containers. For example, several switches are provided that are activated by the waste container when it is attached to the pallet truck. These include, in particular, flap switches that initiate the emptying process and are activated by a side wall of the waste container when the container is pushed against the pallet truck, as well as confirmation switches that are activated by the container's rim, provided the waste container has been correctly engaged by the pallet truck.

[0005] From DE 39 10 660 A1 a safety switching arrangement for lifting and tipping devices is also known, which seeks to prevent manipulation of the flap and the acknowledgment switch by the waste collectors.

[0006] The emptying process inherently poses a health risk to waste collectors. In particular, there is a danger that waste collectors will be caught, lifted, and injured by the pallet truck or the waste containers. To reduce this risk, EP 3 118 141 A1 discloses a monitoring device with various sensor arrangements in the area of ​​the emptying device, which are intended to detect such an occurrence and interrupt the emptying process. The features of the preamble of claim 1 are known from this application.

[0007] One sensor arrangement, EP 3 118 141 A1, is located on the pallet truck itself, meaning it moves with the truck during the emptying process. However, the main movement of the pallet truck towards the tipping opening, and the associated vibrations, increase the susceptibility to measurement errors and also reduce the sensor's lifespan. Another sensor arrangement described in the same publication uses sensors in the upper part of the lifting and tipping device, monitoring an area directly in front of the tipping opening. This sensor arrangement detects waste collectors caught in the mechanism too late or not at all.

[0008] In addition to the movable sensor arrangement, the monitoring device offers further alternative configurations with stationary sensors. The sensors are either located in the side walls of the collection container, adjacent to the emptying device, or on the rear wall of the collection container above the filling opening. Ultrasonic sensors or infrared light sensors are mentioned as possible options. Cameras are also used.

[0009] The object of the invention is to provide a collection container for a refuse collection vehicle for collecting refuse, equipped with a monitoring device that achieves a high level of safety to protect the refuse collectors. It is also an object of the invention to provide a corresponding method for monitoring a loading area located in front of a filling opening of a collection container.

[0010] This problem is solved by a collection container having the features of claims 1 and 8.

[0011] The collection container for a garbage truck is characterized in that the first and second detection spaces overlap at least partially, and that at least the first and second monitoring devices are independent of each other in order to monitor the loading area redundantly.

[0012] The overlap of the detection chamber volumes is preferably >20%, particularly preferably >30%, and especially >50%. The maximum overlap is 90%. The percentages preferably refer to the smaller detection chamber.

[0013] Since the first monitoring device is independent of the second monitoring device, continuous mutual verification of the monitoring devices' functionality is possible. The monitoring devices are preferably not interconnected. Therefore, they operate independently of each other. This has the advantage that the measurement data from the two overlapping detection areas can be used for mutual functional verification of the two monitoring devices. The feeding area is thus monitored redundantly, which guarantees a high degree of reliability and functional safety of the monitoring device, enabling the monitoring device according to the invention to achieve a so-called performance level c according to DIN EN ISO 13849-1 (June 2016).

[0014] At least the first and second monitoring devices are based on different measurement methods.

[0015] Different measurement methods preferably include different radiation sources, such as light or ultrasound, and / or different beam shapes, such as pulsed or continuous beams, and / or different evaluation methods, such as temporal or spatial evaluation.

[0016] If one measurement method variant fails, the second measurement method variant remains available, which further improves the safety of the monitoring device.

[0017] Preferably, one monitoring device is based on an optical method and another on an ultrasonic method. Preferably, the collection container has a device for handling waste. Preferably, the waste handling device is arranged on or in the collection container.

[0018] This handling device is preferably an emptying device for emptying waste containers, which is arranged on the collection container.

[0019] The device is preferably an emptying device arranged on the collection container, which has at least one emptying device for emptying waste containers, and / or a press arranged in the collection container for compacting waste located in the collection container.

[0020] The emptying device is preferably a lifting and tipping device with a lifting carriage. The lifting carriage of the refuse collection vehicle advantageously has a receiving comb for attaching the refuse container. Such a receiving comb is known, for example, from EP 1 619 143 B1.

[0021] In a lifting and tilting device, the emptying process, starting from the receiving position, consists first of a lifting movement and then a tilting movement.

[0022] The pickup position of the pallet truck is the position in which the waste containers are moved by the waste collectors to the pallet truck to begin the emptying process. Moving the waste containers to the pallet truck, which is in pickup position, can, for example, activate a flap switch on the container, thus initiating the emptying process. The waste container is then lifted and, if correctly positioned on the pallet truck, activates a confirmation switch. If the confirmation switch is not activated, the emptying process is aborted. Typically, the waste container is then set down and must be moved back into the correct pickup position by a waste collector.

[0023] After the lifting motion, the pallet truck and the waste container are in a locked position. In this position, the waste container is secured to the pallet truck by a locking mechanism, preventing it from falling off during the tipping motion. At the end of the tipping motion, the pallet truck and waste container are in an emptying position.

[0024] The emptying device preferably includes a control unit that controls the emptying process. The control unit is preferably connected to the flap and confirmation switches of the refuse collection vehicle. The control unit sends a start signal to the drive unit of the emptying device when the emptying process is to begin. The emptying process can also be stopped by a stop signal from the control unit.

[0025] According to another embodiment, the handling device is a compaction unit for compacting waste located in the collection container. The compaction unit is arranged within the collection container. By means of the compaction unit, the waste introduced into the collection container is removed from the area of ​​the filling opening and compacted inside the collection container.

[0026] Preferably, both the compaction mechanism and the emptying device are located in or on the collection container. Other embodiments lack an emptying device, so that the waste is manually thrown into the collection container by the waste collectors through the opening. Such collection containers then only contain the compaction mechanism.

[0027] Both the press and the emptying device operate fully or semi-automatically and therefore pose a potential danger to waste collectors when they are in the loading area.

[0028] For collection containers without an emptying device, the loading area refers to the work area of ​​the waste collectors in front of the filling opening.

[0029] In the case of collection containers with an emptying device, the loading space refers to the functional space of the emptying device.

[0030] The functional space of the emptying device is located behind the emptying device in the x-direction, relative to the lowered rest position of the emptying device. The base of the three-dimensional functional space extends over the width B1 of the emptying device. In the x-direction, the base of the functional space extends over a length L, measured from the receiving device of the emptying device in its rest position. The receiving device is, for example, the receiving comb of a pallet truck. The functional space can preferably be divided into a first monitoring space and a second monitoring space, with the first monitoring space located behind the emptying device and the second monitoring space located behind the first monitoring space in the x-direction.

[0031] Preferably, the first monitoring device is arranged on a wall of the collection container, in particular on a rear wall of the collection container, above the pouring opening.

[0032] Preferably, the first monitoring device includes at least one LIDAR system.

[0033] A LIDAR system (LIDAR: Light Detection and Ranging) is a system related to radar systems for optical distance measurement, using light beams, especially laser beams.

[0034] Preferably, the LIDAR system comprises at least one LED transmitter (light-emitting diode), a receiver, and an evaluation unit. The LED transmitter preferably emits light in the infrared range. The preferred wavelength range is between 800 and 900 nm. This infrared light is invisible to the human eye, so the waste collectors are not blinded during their work.

[0035] The LIDAR system has the advantage that a large, defined area can be illuminated with emitted light.

[0036] The detection area of ​​an LED transmitter preferably has a conical shape and is referred to as a detection cone. The size of the cross-sectional area of ​​the detection cone depends on the distance to the LED transmitter, with the cross-sectional area having a diameter of, for example, 50 cm to 60 cm at a distance of approximately 4 m from the LED transmitter. The cone angle α is preferably between 4° and 20°, and particularly preferably between 5° and 10°.

[0037] According to one embodiment, the LED transmitter can be pivoted about a vertical axis (z-direction of an xyz coordinate system) so that a predetermined spatial area can be scanned.

[0038] According to another embodiment, several LED transmitters are arranged side by side in the y-direction of the xyz coordinate system, so that multiple detection cones define the first detection area. This embodiment has the advantage that no moving parts are required. Due to the fixed arrangement of the LED transmitters, the first detection area is stationary. In this way, there are fewer vibrations of the monitoring device during the emptying process, thereby reducing the susceptibility of the monitoring to errors.

[0039] Preferably, the LIDAR system comprises 5 to 15, and in particular 10 to 12, LED transmitters arranged side by side in the y-direction such that the detection cones partially overlap and form a wedge-shaped first detection area. Each beam axis preferably has a separation angle α' > 0 with respect to the adjacent beam axis. The separation angle α' is preferably < 10°. The wedge-shaped first detection area preferably has a wedge angle β with β = 40° to 180°, and in particular 60° to 100°.

[0040] The LIDAR system is preferably a PRT (Pulse Ranging Technology) device. The PRT method is a precise method for distance measurement, allowing for the correlation of the measured distance to specific incidents within the initial detection area. Such a device does not emit a continuous light beam, but rather short pulses. These pulses can be emitted with higher energy, thereby improving the measurement accuracy.

[0041] Preferably, each LED transmitter emits light pulses whose travel time is measured. The time difference between the transmission time and the reception time of the laser pulse reflected by an object is measured, and the distance to the object is determined from this measurement data.

[0042] Unlike point measurements, as is the case with conventional laser systems, area measurement using detection cones offers the advantage that even irregular or inhomogeneous surfaces of objects are reliably detected and identified. Thus, the LIDAR system is not only able to detect the presence or absence of objects or people, but it is also possible to distinguish objects from people.

[0043] The first detection area of ​​the LIDAR system can be adjusted to the dimensions of the emptying device and the associated working area of ​​the emptying device by preferably filtering out measurement signals, such as light rays reflected by an object, from outside a predetermined range R during evaluation in the evaluation unit.

[0044] The LIDAR system offers a high degree of flexibility and safety for the waste collectors.

[0045] Preferably, at least the first detection area of ​​the first monitoring device, in particular the LIDAR system, is limited to a range Rx extending in the x-direction and a range Ry extending in the y-direction.

[0046] Preferably, the ranges Rx and Ry are set to the dimensions B1 and L of the loading area.

[0047] Preferably, a center line M1 or a center line of the first detection space forms an angle γ with the z-axis, where γ lies between 15° and 70°, in particular between 20° and 50°.

[0048] The angle γ denotes the inclination angle of the first detection zone. By combining the arrangement of the first detection device above the filling opening with the inclination angle γ in the specified area, the first detection zone extends not only into the first monitoring zone, particularly the area above the waste container to be emptied, but also into the second monitoring zone behind the waste container, as long as, for example, the emptying device is in the initial phase of the emptying process. This has the advantage that a person behind the waste container to be emptied is detected at an early stage of the process, and the emptying process is then aborted or interrupted.

[0049] A further advantage is that, due to the inclined orientation of the first detection chamber, a partially opened lid of an overfilled container being emptied does not protrude into the first detection chamber during the initial phase of the emptying process, thus preventing the emptying process from being interrupted. The opening angle ω can preferably be up to 45°.

[0050] If the waste container is so overfilled that the opening angle ω > 45°, the lid protrudes into the first detection zone. As a precaution, this leads to the emptying process being aborted because, in this case, the area behind the waste container is blocked by the lid, and people behind the waste container can no longer be detected by the first monitoring device, in particular the LIDAR system.

[0051] The statements regarding the angle γ in connection with the container lid also apply to the inclination angle ε of the second monitoring device, as will be described in detail below.

[0052] Preferably, the first monitoring device is arranged at a distance from the rear wall of the collection container by means of a bracket. The bracket offers the advantage that the distance of the first monitoring device to the rear wall of the collection container can be adjusted, for example, by changing the size of the bracket. Preferably, the first monitoring device is adjustable on the bracket in the x-direction and / or the y-direction.

[0053] The distance to the back wall influences the tilt angle γ of the first detection chamber. Depending on the chosen distance, the tilt angle γ of the first detection chamber can be made larger or smaller. This allows the irradiation of the work area and the range of the first detection chamber to be adjusted, particularly to accommodate different sizes of waste containers.

[0054] Preferably, the second monitoring device is arranged on both sides next to the pouring opening on the wall of the collection container or on side walls arranged next to the pouring opening, preferably on the end faces of these side walls.

[0055] The second monitoring device preferably has at least two ultrasound devices.

[0056] Preferably the pouring opening has a height H 1 , relative to the lower edge of the pouring opening and the ultrasonic devices are preferably arranged at a height H 2 with 1 / 3 • H 1 ≤ H 2 ≤ 2 / 3 • H 1.

[0057] The ultrasound devices each preferably have an ultrasound sensor with ultrasound transmitter and ultrasound receiver and are preferably arranged significantly lower on the collection container compared to the first monitoring device, so that other areas of the feed room can also be partially detected.

[0058] The second detection chamber preferably comprises two cone-shaped detection chambers, which monitor, in particular, the edge region of the loading chamber. The cone-shaped detection chambers are preferably inclined at an angle ε to the vertical (z-axis) and pivoted inwards at an angle θ from an xz-plane. The angle ε is preferably between 10° and 70°, particularly between 10° and 50°. The angle θ is preferably between 5° and 70°, particularly between 5° and 50°. This arrangement is particularly advantageous when, for example, the emptying device has two adjacent emptying units that preferably empty waste containers independently of one another.

[0059] All angles β, γ, ε, θ can preferably be adjusted by moving, in particular by pivoting, the two monitoring devices. Preferably, adjustment devices with drive mechanisms are provided for this purpose, so that the angle settings can also be made automatically, for example. This is particularly advantageous when small waste containers and large containers are to be emptied one after the other.

[0060] Alternatively, all monitoring devices can also be provided multiple times, arranged at different angles β, e.g. β 1 , β 2 and β 3 , γ, ε and / or θ, so that when changing waste containers, adjusting the devices can be replaced by switching the relevant monitoring devices on or off.

[0061] The advantage of an arrangement on the side wall is that the ultrasonic sensors are positioned even closer to the loading area and the waste containers to be emptied, so that the transmission power can be reduced.

[0062] Preferably, the first monitoring device has a first evaluation unit and the second monitoring device has a second evaluation unit, both of which are connected to the control unit of the waste handling device. Preferably, the two evaluation units are integrated into a common evaluation unit.

[0063] The evaluation unit(s) preferably contain stored data with which the measurement data can be compared. For example, if data from waste containers is stored, a comparison of the measurement data with the stored data can determine whether the correct or incorrect waste container was picked up by the emptying device and whether the waste container is in the correct position on the emptying device.

[0064] Depending on the result of the data comparison, a termination signal is sent from the evaluation unit to the control unit of the emptying device and / or the press, so that the emptying process and / or the pressing process is either aborted or interrupted.

[0065] If the emptying process is interrupted, for example, it must be restarted from the beginning. If the emptying process is interrupted, it can be continued, for example, by manual operation.

[0066] The emptying device preferably has a position sensor for determining the position of a lifting carriage of the emptying device, which is connected to the evaluation devices.

[0067] Preferably, the handling device has a position encoder, e.g. a rotary angle encoder, for determining the position of a lifting carriage of the emptying device or the position of the press, which is connected to the evaluation devices.

[0068] The rotary encoder detects, for example, the rotation angle φ of a lever on a parallelogram linkage used to lift the pallet truck. During the emptying process, the lever pivots around an axis, and the rotary encoder continuously transmits the measured rotation angle φ to the evaluation unit. This allows the position of the pallet truck to be determined. The evaluation unit takes the rotation angle φ into account during the evaluation process. Only if the rotation angle φ is within a predefined angular range WB O and a detection signal is also received, does the evaluation unit send a termination signal to the control unit.

[0069] Advantageously, a lever of the pallet truck is movable from the picking position through a maximum angle WB max, e.g., WB max = 120°, for the lifting movement of the emptying process, whereby it is in the locking position after the movement through the angle WB max. The angle range WBo preferably extends from 0.5 • WB max to 0.7 • WB max.

[0070] The disclosure also relates to a garbage truck with a collection container according to the invention.

[0071] The evaluation units of the monitoring devices are preferably connected to a control unit of the garbage truck or a control unit in the garbage truck.

[0072] The problem is also solved by a method for monitoring a loading area located in front of the opening of a collection container, wherein the collection container is loaded with waste. A monitoring device is used that has at least one first and at least one second monitoring unit with first and second detection chambers. The loading area is monitored using at least two different measuring methods. The loading area is monitored redundantly by means of at least two overlapping detection chambers.

[0073] Preferably, the collection container has at least one device for the semi- or fully automatic handling of waste. During the handling process, the loading area is monitored, and if a hazardous situation is detected by at least one monitoring device, the automatic handling process is aborted or interrupted.

[0074] Preferably, the handling process is a semi- or fully automatic emptying process, wherein the functional area of ​​the emptying device is monitored during the emptying process of a waste container, and wherein an emptying element of the emptying device, together with the waste container, travels a first path and a second path within a functional area of ​​the emptying device. The first path extends from a receiving position A, in which the waste container is received, to a raised locking position D, in which the waste container is locked to the emptying element. The second path extends from the locking position D to an emptying position, in which the waste container is emptied.During the first section of the path within a first time window, a first monitoring room located above the waste container and a second monitoring room located behind the waste container are monitored, and if an object is detected by at least one monitoring device in at least one of the two monitoring rooms, the emptying process is aborted or interrupted.

[0075] During the first leg of the journey, it is checked whether an object or person is in a danger zone.

[0076] During the initial section of the path, the system checks between (preferably standardized) positions of the pallet truck to determine whether an object or person is in the danger zone. If so, the automatic process is interrupted. Manual continuation of the emptying process is then possible.

[0077] Preferably, a corresponding time window is linked to the completion of 65% to 85% of the first leg of the journey.

[0078] Preferably, during the passage of the second route during a second time window, the automatic emptying process is aborted or interrupted if a missing waste container or the presence of a person is detected.

[0079] Preferably, after the automatic emptying process is interrupted during the first section of the path, the emptying process can be continued by manually operating the emptying device.

[0080] If no waste container is detected by at least one monitoring device, this indicates a malfunction of the monitoring device(s), so the emptying process is immediately aborted or interrupted.

[0081] During the first and / or second phase of the path, the monitoring device preferably performs a self-check. A waste container must be detected during the second phase. This ensures that the monitoring system is still functioning correctly at that point. If this is not the case, all movements of the emptying device are aborted, and, for example, the rollover protection device is held in the raised position at the tipping opening, preventing an object or person on the container from being caught by the rollover protection device.

[0082] Preferably, the emptying process is carried out with at least two different emptying speeds. It is preferred that the emptying process begins with a first emptying speed v1 and that, after a safety time window has elapsed, the emptying process continues with a second emptying speed v2, where v1 <v 2 gilt.

[0083] The safety time window preferably begins in recording position A.

[0084] The safety time window preferably ends at the earliest upon reaching the locking position D. Particularly preferably, the safety time window ends after traversing a maximum of 30%, and especially a maximum of 20%, of the second path.

[0085] The velocities preferably are v1 <= 0.8 * v2.

[0086] The lower emptying speed v1, compared to the normal emptying speed v2, has the advantage of giving the waste collector slightly more time to step out of the loading area. This further increases the waste collector's safety. Another advantage is that the waste collector has more time for visual inspection of the contents, such as checking that the waste container is correctly seated on the emptying device.

[0087] Preferably, the dimensions of waste containers are stored in at least one evaluation unit of the monitoring device. During the emptying process, particularly during the first and / or second phase of the emptying process, the device verifies whether the waste container to be emptied corresponds to the stored container. While the first monitoring unit preferably detects the rear wall of the waste container, the side wall(s) are primarily detected by the second monitoring unit(s). The waste container to be emptied can then be identified from the combination of these measurement data.

[0088] The invention is illustrated and explained below with reference to the drawings. These show: Figure 1 is a perspective rear view of a collection container according to the invention, Figure 2 is a top view of the LIDAR system with associated beam geometry, Figure 3 is a perspective rear view of the collection container with the second monitoring device according to Figure 1 Figure 4: Side view of the rear section of the collection container with a 240I waste bin; Figure 4a: Side view of the rear section of the collection container with a 1100I waste bin; Figure 5: A schematic side view of an emptying device during the first section of the path; Figure 6: A perspective rear view of the collection container during the second section of the path; Figure 7: A perspective rear view of a collection container without an emptying device; and Figure 8: A diagram illustrating the interaction of the components of emptying devices and monitoring devices.

[0089] The following description of the figures refers to an orthogonal xyz coordinate system.

[0090] In the Figure 1 Figure 1 shows a perspective rear view of a collection container 1 according to the invention with a rear section 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 Figure 1). Fig. 2 and 4 ). In the representation shown here, as well as in the others Figures 2 to 6 The exemplary emptying device 12 has two emptying devices 12a and 12b for emptying waste containers 6 (see also Fig. 3 ).

[0091] In the rear wall 3 of the collection container 1 is a filling opening 4, through which the waste containers 6 are emptied by means of the emptying device 12. Side walls 5a and 5b are provided on the sides of the emptying device 12, which on the one hand support the operating elements 9 and on the other hand, together with barrier elements 9a, laterally secure the functional space 8' of the emptying device 12, thus preventing, for example, passers-by from entering the functional space 8' of the emptying device 12.

[0092] For monitoring the functional space 8' of the emptying device 12 (see Fig. 2 and 4A monitoring device 20 is provided, comprising a first monitoring unit 30 and a second monitoring unit 40. The first monitoring unit 30 is arranged centrally above the pouring opening 4 and consists of a LIDAR system 31 attached to a bracket 34. The LIDAR system 31 has a total of eleven LED transmitters 36, arranged side by side and emitting infrared light obliquely downwards. Each LED transmitter 36 generates a cone-shaped detection area 38, which is referred to as the detection cone (see Figure 2 This is schematically shown in the Figure 1 indicated by eleven wedge-shaped surfaces.

[0093] The LIDAR system 31 also includes a receiver (not shown) that receives the laser pulses reflected by an object or person. The first monitoring unit 30 also includes a first evaluation unit 35 (not shown) in which the received measurement signals are evaluated (see also Fig. 8 ).

[0094] The detection cones 38 partially overlap and together form a first detection chamber 32, which will be explained in more detail in connection with the following figures. The first detection chamber 32 is wedge-shaped and has a wedge angle β of 80°.

[0095] In the illustration shown here, the emptying device 12 has a width B1 that essentially corresponds to the distance between the two side walls 5a and 5b. The width B2 of the first detection chamber 32 is preferably set to this width B1. The width of the detection chamber 32 is set by disregarding measurement signals reflected back from objects or persons outside this defined area during evaluation.

[0096] 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 up the side walls 5a and 5b at the height of the pouring opening 4. The ultrasonic devices 40a and 40b have two second detection chambers 42a,b, which are also cone-shaped.

[0097] The dotted areas of the detection rooms indicate, by way of example, a danger zone in which no persons may be present at the start of the emptying process.

[0098] In the Figure 2 The top view of a LiDAR system 31 with its associated beam geometry is shown. The LiDAR system 31 contains eleven LED emitters 36, of which only three are designated with the reference numeral 36. The LED emitters 36 are arranged such that the beam axes S are fanned out, with the beam axes S having a spacing characterized by the spacing angle α'. Each beam S has a corresponding detection cone 38, which has a cone angle α. Preferably, α > α'.

[0099] In the xy-plane, the functional space 8' extends over the length L, measured from the emptying devices 12a, b in the x-direction, and over the width B1, where the width B1 corresponds to the width of the emptying device 10. The width B2 of the first detection space 32 corresponds to the width B1. The range Rx of the LiDAR system 31 is set to the length L of the functional space 8'. Since the LiDAR system is located centrally to the functional space 8', the range Ry is set to B1 / 2 in both directions.

[0100] In the Figure 3 is like in Figure 1A perspective rear view of the collection container 1 is shown, the beam geometry of the LIDAR system 31 being omitted to illustrate the second monitoring device 40. An ultrasonic device 40a,b is arranged on each of the end faces of the side walls 5a and 5b, emitting ultrasonic waves that form a cone-shaped second detection chamber 42a,b. The two detection chambers 42a,b are inclined inwards by an inward angle θ from a plane E lying in the xz-plane, so that the boundary region of the functional chamber 8' can be monitored. Each detection chamber 42a,b has a center line M 2 and a cone angle δ. The cone angle δ is preferably between 5° and 50°, and particularly between 10° and 40°.

[0101] The pouring opening 4 has a height H1. The ultrasonic devices 42a, b are arranged at a height H2, which lies between ⅓ H1 and 2 / 3 H1.

[0102] In the Figure 4Figure 1 shows a side view of the rear section 2 of the collection container 1, wherein the waste container 6 has a size of 240 l and is located in position C within the first path 50, as shown in the figure. Figure 5 is shown schematically.

[0103] In position C, the pallet truck 14 is at the end of the first time window in which both monitoring devices 30, 40 check whether there are persons or objects in the monitoring room 8a above the waste container 6 and / or in the monitoring room 8b behind the waste container 6, which together form the functional room 8'.

[0104] In the Figure 4 It can be seen that the first detection space 32 of the first monitoring device 30 is located with respect to the beam axis S of a detection cone 38, which in this representation coincides with the center line M 1 of the first detection space 32 (see also Figure 2 ) is inclined at an angle of inclination γ = 53° relative to the z-axis.

[0105] The second detection chamber 42a is also inclined at an angle ε = 45° relative to the z-axis on the central axis M 2 of the second detection chamber 42a. Both angles of inclination γ and ε are chosen such that the two detection chambers 32 and 42a partially overlap. Both detection chambers 32 and 42a (42b is not visible) extend through the monitoring chambers 8a and 8b, with the two detection chambers 32 and 42a extending deep into the second monitoring chamber 8b due to their inclination. Both detection chambers 32 and 42a overlap. A person is located in chamber 8b, within both detection chambers 32 and 42a. This situation leads to the termination or interruption of the emptying process. Preferably, the emptying process is only interrupted and can be manually continued by operating the controls 9 when the person has moved out of the danger zone.

[0106] In the Figure 4 An overflowing waste container 6 is shown, its lid 7 open. The opening angle ω is 45°.

[0107] At this opening angle ω, the lid 7 of the waste container 6 does not protrude into the two detection chambers 32 and 42a, so that the previously described detection of the person in the danger zone is not impaired.

[0108] If the opening angle ω is larger, the lid 7 protrudes into the detection chambers 32 and 42a and the emptying process is aborted. The waste container 6 is lowered by actuating the control elements 9, some of the contents must be removed and the emptying process is restarted.

[0109] In the Figure 4a The side view of the rear section 2 of a collection container 1 with waste container 6' of size 1100I is shown. Figure 4a differs from the Figure 4This is because the angles γ and ε are somewhat larger due to the greater width of the waste container 6'. The monitoring devices 30, 40 have pivoting and drive mechanisms (not shown) for adjusting the angles γ and ε. Alternatively, several monitoring devices 30, 40 can be provided, arranged at different angles γ and ε, respectively.

[0110] In the Figure 5The first path 50 is schematically represented based on the movement sequence of the pallet truck 14 without the associated waste container 6. The pallet truck 16 has abutment elements 16 at its lower end, which rest against the wall of the waste container (not shown). At the upper end, a receiving device in the form of a receiving comb 15 is shown. The path 50 is drawn based on the movement path of the receiving comb 15. Only in position A is a parallelogram linkage 17 shown on the pallet truck 14, which has a lever 17a that is articulated to another lever 17b. The two levers 17a, b define the angle of rotation φ. A rotary encoder 18 is arranged at the corresponding joint 17c, which measures the angle of rotation φ and is connected to the evaluation units 35, 45 of the two monitoring devices 30 and 40 (see also Figure 7 ).

[0111] At position A, the waste container is picked up and moved along path 50 to locking position D. When 65% of the path has been traveled, corresponding to position B, the first time window begins and monitoring of rooms 8a and 8b is initiated. This continues until position C is reached. The time window is approximately 2 to 3 seconds. The angle range WB corresponds to the first time window, with the maximum angle WB max being approximately 120°, which is equivalent to 100% of path 50.

[0112] In the Figure 6 The waste container 6 is already locked and is located on the second path 52, in which the pallet truck 14 with the waste container 6 is pivoted by means of the pivot shaft 13. This is in Figure 5 schematically indicated. At the end of route 52, the waste container is emptied into the collection container 1 through the pouring opening 4.

[0113] Along the second path 52, a mutual check of the monitoring devices 30 and 40 is carried out. If both monitoring devices 30 and 40 detect a waste container 6 or 6', the emptying process is not aborted or interrupted, as this confirms that both monitoring devices are functioning correctly. However, if one of the two monitoring devices does not detect a waste container 6 or 6' or a person, this leads to an aborted emptying process. In this case, the reason for the absence of the waste container must be determined and rectified before further emptying can be carried out.

[0114] In the Figure 7Another embodiment of a collection container 1 is shown, which has a filling opening 4 in the rear wall 3 through which, for example, garbage bags are thrown in by the garbage collectors. A compactor 11 is located in the collection container, which transports the garbage bags from the loading trough below the filling opening and compacts them. If the garbage collector approaches the filling opening 4 too closely, their arms may enter the danger zone of the compactor 11, which is detected by the monitoring device 20. In this embodiment, the loading chamber 8 is the garbage collector's working chamber 8". For the sake of clarity, the first detection chamber 32 has not been shown.

[0115] In the Figure 8Figure 10 is an exemplary diagram showing the various components of the emptying device 20 and the monitoring devices 30 and 40. The emptying device 10 comprises two emptying units 12a and 12b, which are connected to a control unit 19. The control unit 19 controls the automatically running emptying process and stops the emptying unit(s) 12a and 12b when the control unit 19 receives a corresponding signal from the monitoring device 30 or 40 or their evaluation units 35 and 45.

[0116] The monitoring device 20 comprises the two monitoring units 30 and 40, to which associated evaluation units 35 and 45 are connected, which are combined in the illustration shown here to form an evaluation unit 25. The position or rotary encoder 18 (see also Figure 5) is also connected to the evaluation unit 25. Based on the values ​​of the rotary encoder 18, the time window is controlled and the monitoring of the two monitoring rooms 8a and 8b is carried out during the passage of the first path section 50. Reference symbol list

[0117] 1 Collection container 2 Rear section of a collection container 3 Back wall 4 Filling opening 5a,b Side wall 6 Waste container 6' Waste container 7 Lid of the waste container 8 Loading area 8' Functional area 8" Work area of ​​the waste collectors 8a First monitoring area 8b Second monitoring area 9 Control element 9a Barrier element 10 Handling device 11 Press 12 Emptying device 12a,b Emptying device 13 Swivel shaft 14 Pallet truck 15 Pickup comb 16 Abutment 17 Parallelogram linkage 17a,b Lever 17c Joint 18 Rotary angle encoder 19 Control device 20 Monitoring device 25 Evaluation unit 30 First monitoring device 31 LiDAR system 32 First detection chamber 34 Mounting bracket 35 First evaluation unit 36 ​​LED transmitter 38 Conical detection chamber, detection cone 40 Second monitoring device 40a,b Ultrasound device 41ab Ultrasound sensor 42a,b Second detection room 45 Second evaluation device 50 first leg 52 second leg α Cone angle of the LED transmitter α' Distance angle β Wedge angle γ Tilt angle δ Cone angle of the second detection chamber ε Inclination angle θ Inward angle ω Opening angle of the lid φ Rotation angle Rx range in x-direction Ry range in y-direction E plane (xz plane) M1 Center line of the first detection space M2 Center line of the second detection space A Pickup position B Position of the pallet truck at 65% of the travel distance 50 C Position of the pallet truck at 80% of the travel distance 50 D Locking position B 1 Width of the emptying device B 2 Width of the detection chamber S Beam axis L Length of the loading chamber H 1 Height of the pouring opening H 2 Height of the ultrasonic device WB Angle range WB max Maximum angle range

Claims

1. Collection container (1) for a refuse collection vehicle for collecting refuse, having a dumping opening (4) located in a yz plane of an orthogonal xyz coordinate system, the z axis of which runs vertically, with a monitoring apparatus (20) for monitoring a feeding area (8) in front of the dumping opening (4), the monitoring apparatus (20) having at least one first and at least one second monitoring device (30, 40) with first and second detection spaces (32, 42a, b), at least the first and second monitoring devices (30, 40) being based on different measuring methods, characterised in that the first and second detection spaces (32, 42a, b) at least partially overlap, and in that at least the first and second monitoring devices (30, 40) are independent of one another in order to monitor the feeding area (8) redundantly.

2. Collection container (1) according to claim 1, characterised in that the first monitoring device (30) has at least one LIDAR system (31).

3. Collection container (1) according to one of the preceding claims, characterised in that at least the first detection space (32) is limited to a range (Rx) extending in the x-direction and a range (Ry) extending in the y-direction.

4. Collection container (1) according to one of the preceding claims, characterised in that a centre line M1 of the first detection space (32) forms an angle γ with the z-axis, wherein γ is between 15° and 70°.

5. Collection container (1) according to one of the preceding claims, characterised in that the first monitoring device (30) is arranged at a distance from the rear wall (3) of the collection container (1) by means of a support (34).

6. Collection container (1) according to one of the preceding claims, characterised in that the second monitoring device (40) has at least two ultrasonic devices (40a, b).

7. Collection container (1) according to one of the preceding claims, characterised in that the dumping opening (4) has a height H1 and in that the second monitoring device (40) is arranged at a height H2 with 1 / 3 H1 ≤ H2 ≤ 2 / 3 H1.

8. Method for monitoring a feeding area (8) located in front of a dumping opening (4) of a collection container (1) according to claim 1, wherein the collection container (1) is fed with refuse, wherein a monitoring apparatus (20) is used which comprises at least one first and at least one second monitoring device (30, 40) with first and second detection spaces (32, 42a, b), wherein the feeding area (8) is monitored with at least two different measuring methods and wherein the feeding area (8) is monitored redundantly by means of at least two overlapping detection spaces (32, 42a, b).

9. Method according to claim 8, characterised in that the collection container (1) has at least one apparatus (10) for the partially or fully automatic handling of refuse, in that the feeding area (8) is monitored during the handling process, and in that, if a hazardous situation is detected by at least one monitoring device (30, 40), the automatic handling process is aborted or interrupted.

10. Method according to one of claims 8 or 9, characterised in that the handling process is a partially or fully automatic emptying process, in that during the emptying process of a refuse container (6, 6') the functional space (8') of an emptying device (12) is monitored, wherein an emptying device (12a, b) with the refuse container (6, 6') passes through a first path (50) and a second path (52) in the functional space (8'), and wherein the first path (50) extends from a pick-up position A, in which the refuse container (6, 6') is picked up, to a raised locking position D, in which the refuse container (6, 6') is locked to the emptying device (12a, 12b), and wherein the second path (52) extends from the locking position D to an emptying position in which the refuse container (6, 6') is emptied into the collection container (1), and that during the passage of the first path (50) during a first time window a first monitoring space (50) located above the refuse container (6, 6') and a second monitoring space (8b) located behind the refuse container (6) is monitored and, if an object is detected by at least one monitoring device (30, 40) in at least one of the two monitoring spaces (8a, 8b), the automatic emptying process is cancelled or interrupted.

11. Method according to claim 10, characterised in that the first time window is coupled to the passage of 65% to 85% of the first distance (50).

12. Method according to claim 10 or 11, characterised in that during the passage of the second path (52) during a second time window, the automatic emptying process is aborted or interrupted upon detection of a missing refuse container (6, 6') or the presence of a person.

13. Method according to one of claims 8 to 12, characterised in that dimensions of refuse containers (6, 6') are stored in at least one evaluation device (35, 45) or an evaluation unit (25) of the monitoring apparatus (20), and in that during the emptying process it is checked whether the refuse container (6, 6') to be emptied corresponds to the stored refuse container (6, 6').

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