System for monitoring the emptying process of refuse containers into a hopper and corresponding method

Abstract

The invention relates to a system for monitoring the emptying process of waste containers (12) into a filling housing (16), in particular of a refuse collection vehicle (14) for waste transport, wherein the filling housing (16) has a compaction device (18) for compressing the waste received in the filling housing (16). Detection means (20) for identifying persons are arranged on the filling housing (16) such that a detection area (22) is directed towards an interior (24) of the waste container (12) and / or an interior (26) of the filling housing (16), wherein the detection means (20) are connected to a safety controller (28) for data evaluation, and wherein the safety controller (28) interrupts the operation of the compaction device (18) if a person is detected in the waste container (12) and / or the filling housing (16). The invention further relates to a method.

Description

[0001] The invention relates to a system for monitoring an emptying process of waste containers into a filling housing according to the preamble of claim 1. The invention further relates to a method for monitoring an emptying process.

[0002] For waste disposal, filling hoppers or containers, as well as refuse collection vehicles with a filling hopper, are known, wherein the filling hopper preferably has an integrated compaction device to compress the collected waste and thus increase the loading capacity. However, compaction devices have the disadvantage that they exert increased force on the waste placed in the filling hopper for compression, particularly by means of hydraulically actuated compaction devices, thereby posing a potential danger to persons inside the filling hopper.

[0003] A monitoring system at the rear of a refuse collection vehicle is known in the prior art, particularly as a maneuvering aid or for monitoring the swivel range of a lifting device, especially to display a view of the rear area to an operator in the cab. However, this system does not monitor the waste containers or the operation of the compaction device. Therefore, safe operation and the prevention of accidents within the filling chamber cannot be fully guaranteed. In particular, people inside waste containers could be injured during emptying operations.

[0004] The object of the invention is to provide a system that enables safe monitoring of an emptying and compression process of a filling housing while avoiding the disadvantages known from the prior art.

[0005] Furthermore, the task includes specifying a procedure for monitoring the emptying process.

[0006] The problem is solved with respect to the system by the features of claim 1 and with respect to the method by the features of claim 8.

[0007] Advantageous embodiments of the invention are specified in the dependent claims.

[0008] According to the invention, a system for monitoring the emptying process of waste containers into a filling housing, in particular of a refuse collection vehicle for waste transport, is claimed, wherein the filling housing has a compaction device for compressing the collected waste in the filling housing. Detection means for identifying persons are arranged on the filling housing such that a detection area is directed towards an interior of the waste container and / or an interior of the filling housing, wherein the detection means are connected to a safety control system, in particular a safety mobile control system, for data evaluation, and wherein the safety control system interrupts the operation of the compaction device if a person is detected in the waste container and / or the filling housing.

[0009] A safe control system, in particular a safe mobile control system, is preferably understood to be a safety control system for working machines, especially mobile working machines, and in particular a control system according to the safety-related requirements of the IEC 61508 standard. Preferably, it is a safe control system with regard to functional safety, in order to ensure the safe control of actuators and adequate occupational safety.

[0010] The invention offers the advantage of improving the safe and injury-free operation of a discharge process, whereby the use of a safe control system, particularly a mobile control system, ensures the reliable shutdown of the press device. This leads to increased occupational safety, while also improving operational efficiency through reduced manual monitoring. Furthermore, compliance with safety regulations can be facilitated.

[0011] According to a preferred embodiment, the detection means are designed as at least one first camera unit arranged within the filling housing, with the detection area oriented towards an active section of the press device and / or towards the interior of the waste container in an emptying state. The waste container is preferably located within the filling housing in the emptying state.

[0012] The working area of ​​the pressing device is preferably understood to be the movement space of the pressing device within the filling housing, in which there is a risk of a person colliding with the moving components of the pressing device. Targeted monitoring of the working area and / or the waste container during emptying has the advantage that the most critical part of the pressing process can be continuously monitored, thus minimizing the reaction time in case of hazard detection. Furthermore, arranging the at least one first camera unit within the filling housing has the advantage of protecting the detection elements from harsh environmental conditions, thereby further increasing the reliability of the system. Preferably, the at least one first camera unit is arranged on the ceiling of the filling housing.

[0013] Additionally or alternatively, in a further embodiment, the detection means can be designed as at least a second camera unit which is connected or connectable to a lifting device in order to detect the interior of the waste container during a swiveling movement of the lifting device.

[0014] Preferably, in addition to the pressing device, the operation of the lifting device is also stopped by the safe control system if a person is detected.

[0015] Monitoring the waste container during the emptying process enables the early detection of people who may be inside the waste container, with the connection of at least one second camera unit to the lifting device allowing automatic adjustment of the detection area to the position of the waste container, thus ensuring seamless monitoring.

[0016] According to further training, the detection devices can be configured as at least one thermal imaging camera, at least one heartbeat sensor, and / or at least one ultrasonic sensor. Advantageously, the use of thermal imaging cameras enables the detection of people even in poor visibility or darkness. Furthermore, ultrasonic sensors offer the additional benefit of non-contact and long-lasting person detection. A combination of the aforementioned detection devices can improve the reliability of person detection under various environmental conditions.

[0017] It is preferred that the detection means be configured as at least one thermal imaging camera, at least one heartbeat sensor, and / or at least one ultrasonic sensor, either alternatively or preferably in addition to the at least one first camera unit and / or the at least one second camera unit. The detection means can preferably be arranged outside and / or inside the filling housing and / or on the lifting device, with the respective detection area being oriented, analogous to the first and / or second camera unit, towards the working area of ​​the pressing device and / or towards the interior of the waste container in order to detect persons.

[0018] Preferably, at least one weight sensor, at least one heartbeat sensor, and / or at least one gas sensor can be arranged or integrated on a lifting device of the refuse collection vehicle to monitor the weight of the waste container, a person inside the waste container, and / or the concentration of respiratory gases for person detection during the emptying process. Preferably, the weight, heartbeat, and / or gas sensors are integrated into the lifting, tipping, or rotating mechanism of the refuse collection vehicle. More preferably, the at least one gas sensor can be positioned on a pivot arm of the lifting device and adjacent to the waste container being collected to detect the concentration of respiratory gases. In particular, an excessive weight or changes in weight can indicate the presence of persons in the waste container. By detecting respiratory gases such as carbon dioxide (CO2), the system can effectively indicate the presence of persons in the waste container.By detecting the heartbeat (heartbeat of a living person), the system can also effectively indicate the presence of people in the waste container.

[0019] Preferably, the heartbeat sensor is based on a radar principle, in particular the principle of ultra-wideband radar (UWB radar). This emits electromagnetic pulses and analyzes reflections to detect minute movements, especially chest rises due to breathing or heartbeat. Detection is possible even when the subject is stationary, unlike cameras or thermal sensors. Advantageously, the heartbeat sensor, in particular a radar heartbeat sensor, can be used in addition to cameras to improve person detection. Furthermore, the heartbeat sensor can advantageously detect through various materials, in particular plastic, paper, or textiles, thereby increasing the reliability of person detection.

[0020] In summary, the heartbeat sensor has the following advantages: Detection even among waste material. No light required (works in the dark). Insensitive to dirt and moisture. Detects vital signs even in unconscious persons.

[0021] A radar heartbeat sensor, in particular a UWB radar, can preferably be mounted above the opening and / or on the grab arm or lifting device of refuse collection vehicles and / or inside the filling housing. Before the refuse container is emptied, the radar scans the interior for signs of life. If something is detected, the process is interrupted, and a manual check can be carried out. In particular, it may be preferred that the radar beam is directed towards an active section of the compaction device and / or towards the interior of the refuse container to detect people.

[0022] According to a preferred embodiment, the system, together with the detection means, forms a multi-sensor comprising at least two sensors, which are configured as a first camera unit, second camera unit, thermal imaging camera, ultrasonic sensor, weight sensor, heartbeat sensor, and / or gas sensor, and are arranged in combination on the filling housing and connected to the safety control unit for evaluation. Preferably, a plurality of the aforementioned sensors can also be combined with one another.

[0023] This combination of different sensors enables a clearer distinction between people and other objects. This further improves the precise and reliable detection of people. In particular, the captured data can be correlated, and, for example, the presence of movement, weight changes, a heartbeat, and / or CO2 gas detection can reliably identify individuals. Preferably, this combination minimizes the blind spots of the detection devices.

[0024] Furthermore, it may be preferred that the system has a display unit which is arranged in a driver's cab of the refuse collection vehicle and is connected to the safety control system to indicate the interruption of the compaction device, preferably with a warning signal to an operator.

[0025] The invention also relates to a method for monitoring an emptying process of waste containers into a filling housing with a press device, in particular a filling housing of a garbage truck, and by means of a aforementioned system, wherein detection means are arranged on the filling housing to detect persons in the waste container and / or the filling housing, wherein the detected data of the detection means are sent to a safety control system and are evaluated for person detection, wherein immediately following person detection the press device is stopped by the safety control system.

[0026] For further monitoring, a multisensor with at least two combined sensors is used, in particular a combination of a first camera unit, a second camera unit, a thermal imaging camera, an ultrasonic sensor, a weight sensor, a heartbeat sensor and / or a gas sensor or a multiple of the individual sensors, wherein the evaluation and merging of the sensor signals of the multisensor comprises the following steps in a preferred order: Data integration, wherein raw data from each sensor is fed into the safety controller and synchronized. The data is preferably combined in a uniform format or a uniform display unit to enable joint analysis; preferably data preprocessing to reduce noise and remove artifacts, for example by filtering or calibration; feature extraction of data relevant for person detection, wherein features for person detection in waste containers are extracted from the data of the individual sensors; combining the extracted features and analyzing the combined data to detect the presence of persons; interrupting the emptying process following the detection of a person.

[0027] The integration and analysis of data from multiple sensors in a central control system enables robust evaluation, reducing false alarms and improving the operational safety of the garbage truck.

[0028] Preferably, the aforementioned sensors can be used as one or more sensors. For example, several camera units can be combined with one or more of the other sensors.

[0029] Further training involves analyzing the extracted features and assessing the probability of a person's presence, taking into account weighting factors for each sensor signal.

[0030] Preferably, a multi-sensor fusion strategy is performed for extracted features from the sensor signals, whereby combined features are generated by summation, weighting and logic combination.

[0031] Preferably, a classification of the combined characteristics can then be carried out, whereby the characteristics are confirmed or rejected according to the presence of a person.

[0032] According to a preferred further development, contextual information on the environmental conditions and / or the type of filling housing can be included for the evaluation of the sensor data, in particular a position of the garbage truck, the ambient temperature and / or teaching measurements for predetermined garbage container types and / or a characteristic type of garbage.

[0033] The ability to use contextual information for evaluating the extracted features, especially for adjusting weighting factors, offers flexibility in calibrating the system for different operating conditions, which increases the adaptability of the method to various application environments.

[0034] For example, the aforementioned weight sensor can be configured to accommodate expected or standardized waste container types.

[0035] Certain types of waste and their reflective properties can be preferentially used for calibrating the detection devices. In particular, with regard to the radar heartbeat sensor, it can be preferentially evaluated whether metallic types of waste are present that could reflect a radar signal and interfere with heartbeat detection. In this case, a signal can be sent to the control system indicating that a manual check or an alternative sensor type should be used to evaluate the person detection.

[0036] Preferably, based on defined threshold values ​​for sensor signals, a warning signal can be issued or the emptying process can be interrupted.

[0037] Further training may include a feedback step in the aforementioned procedure, generating feedback on the accuracy of person identification and allowing parameters for person recognition to be adjusted.

[0038] It is also desirable that the method implements error correction mechanisms and redundancy strategies to increase the system's reliability and minimize false alarms. This is achieved by integrating additional sensors or by verifying the consistency of the sensor signals.

[0039] Furthermore, it may be preferable for the system to learn from past experiences and adjust its evaluation criteria accordingly. This can be achieved through machine learning or other intelligent algorithms to continuously improve the system and adapt it to new environmental conditions.

[0040] Additionally, providing real-time feedback to the garbage truck operator regarding the presence of a person in the waste container may be preferable. This can be done through visual or audible signals. Furthermore, the operator may preferably be given the option to manually override or confirm the system based on additional visual or sensory information.

[0041] The invention will now be explained in more detail using exemplary embodiments and with reference to the drawings.

[0042] They show schematically: Fig. 1a: Side view of a refuse collection vehicle with a system for monitoring the emptying process of a refuse container, Fig. 1b: Side view according to the Fig. 1a , wherein detection means are arranged on a lifting device, Fig. 1c: side view according to the Fig. 1b , with the lifting device in a pivoted state, Fig. 2: Block diagram of a safe control system, Fig. 3: Representation of the process steps for evaluating sensor signals.

[0043] In the following description of preferred embodiments, identical reference numerals denote identical or comparable components.

[0044] The Fig. 1a bis Fig. 1c Figure 10 shows a system 10 with detection means 20 for monitoring the emptying process of waste containers 12 into a filling housing 16, wherein the filling housing 16 can be designed as a cargo space of a refuse collection vehicle 14 for waste transport. The filling housing 16 has a press device 18 to compress the collected waste. Preferably, the waste can be compressed along an effective section w by adjusting the stroke of the press device 18. In particular, the press device 18 poses a significant hazard if persons enter an interior space 26 of the filling housing 16.

[0045] The Fig. 1a Figure 1 shows an embodiment of system 10, wherein detection means 20, with a detection area 22 (schematically depicted as dashed lines), is directed towards an interior 24 of the waste container 12 and preferably towards the interior 26 of the filling housing 16 to detect persons. The detection area 22 is particularly preferably directed towards the working section w of the compaction device 18 to detect persons in this danger zone. The detection means 20 are connected to a safety control unit 28, in particular a mobile control unit, for data evaluation, which interrupts the operation of the compaction device 18 if persons are detected by the detection means 20. This ensures safe and injury-free operation of the filling housing 16 and, in particular, the refuse collection vehicle 14. The safety control unit 28 can preferably be arranged inside the filling housing 16 or inside a driver's cab 37 of the refuse collection vehicle 14.In particular, in the driver's cab 37, the detection of persons can be displayed to an operator via a display unit 36.

[0046] Preferably, the detection means 20 can be designed as one or more first camera units 30a, which can be arranged in the outside or the inside 24, in particular a ceiling, of the filling housing 16.

[0047] The Fig. 1b An alternative or additional embodiment was shown, wherein a second camera unit 30b is arranged on a lifting device 32 as a detection means 20 to detect the interior 24 of the waste container 12 during a pivoting movement into the interior 24 of the filling housing 16. Preferably, an additional sensor, in particular a weight sensor 34 and / or a gas sensor 35, can also be arranged on a pivoting arm 38 of the lifting device 32. Preferably, the gas sensor 35 is arranged adjacent to a receptacle of the waste container 12 to detect exhaled gases escaping from the waste container 12.

[0048] The Fig. 1c The lifting device 32 is shown in the pivoted state, in particular in an emptying state of the waste container 12, wherein preferably the second camera unit 30b is directed towards the interior 24 of the waste container 12.

[0049] Preferably, the aforementioned recording means can be 20 of the Fig. 1a bis Fig. 1c They may also be equipped as thermal imaging cameras and / or ultrasonic sensors and / or radar heartbeat sensors, or alternatively, as thermal imaging cameras and / or ultrasonic sensors.

[0050] According to a particularly preferred embodiment, the aforementioned detection means are configured with sensors, in particular camera units for image processing, gas sensors, weight sensors, thermal imaging cameras, heartbeat sensors and / or ultrasonic sensors, as a combination of at least two sensors in order to improve the reliability of the monitoring. The Fig. 2 This allows multiple sensor signals to be integrated into the safety controller and evaluated together. The connection of the detection devices 20 and sensors is schematically represented by arrows.

[0051] A detailed preferred procedure for the data evaluation of the safe control system 28 can be found in the Fig. 3 to be taken, in a preferred order: Data integration: The raw data from each sensor is fed into the secure control system and synchronized. The data is preferably combined in a uniform format or representation unit to enable joint analysis. Preprocessing: The data from the various sensors undergoes preprocessing to reduce noise and remove artifacts, for example, through filtering or calibration. Feature extraction: Features relevant for detecting people in waste containers are extracted from the data of the individual sensors. Multisensor fusion strategy: Summation, weighting, and logic combining are used to generate the combined features.Classification and Decision-Making: The combined characteristics undergo a classification or decision-making phase to confirm or reject the presence of a person in a waste container. The methodology is selected based on the specific requirements of the application. Preferably, contextual information can be further integrated: Contextual information such as the position of the waste collection vehicle, the ambient temperature, or the time of day can be included in the decision-making process to further improve the reliability of person identification. Feedback and Adjustment: The system can receive feedback on the accuracy of person identification and adjust its parameters accordingly to continuously improve performance.

[0052] In summary, sensor signals are read by the safety controller 28 and data integration is performed. Subsequently, preprocessing, feature extraction, and fusion of the preprocessed data from the various sensors are carried out. The data are then classified and assessed for person identification, and this evaluation can be repeated. Reference symbol list

[0053] 10 System 12 Waste container 14 Garbage truck 16 Filling hopper 18 Compactor 20 Detection device 22 Detection area 24 Interior of the waste container 26 Interior of the filling hopper 28 Safe control 30a Burst and second camera unit 32 Lifting device 34 Weight sensor 35 Gas sensor 36 Display unit 37 Driver's cab 38 Swivel arm of the lifting device

Claims

1. System for monitoring an emptying process of waste containers (12) into a filling housing (16), in particular of a refuse collection vehicle (14) for waste transport, wherein the filling housing (16) has a press device (18) for compressing the waste received in the filling housing (16), characterized by that Detection means (20) for detecting persons are arranged on the filling housing (16) such that a detection area (22) is directed towards an interior (24) of the waste container (12) and / or an interior (26) of the filling housing (16), wherein the detection means (20) are connected to a safe control (28), in particular a safe mobile control, for data evaluation and wherein the safe control (28) interrupts the operation of the press device (18) if a person is detected in the waste container (12) and / or the filling housing (16).

2. System according to claim 1, characterized by thatthe detection means (20) are designed as at least a first camera unit (30a) which is arranged inside the filling housing (16) and wherein the detection area (22) is oriented in the direction of an active section (w) of the press device (18) and / or in the direction of the interior (24) of the waste container (12) in an emptying state.

3. System according to claim 1 or 2, characterized by that the detection means (20) are designed as at least a second camera unit (30b) which is connected or connectable to a lifting device (32) in order to detect the interior (24) of the waste container (12) during the emptying process and a swiveling movement of the lifting device (32).

4. System according to one of claims 1 to 3, characterized by that Detection means (20) are designed as at least a thermal imaging camera and / or as at least an ultrasonic sensor.

5. System according to any one of claims 1 to 4, characterized by that the detection means (20) are designed as at least one heartbeat sensor, in particular a radar heartbeat sensor, most preferably a UWB radar, to detect signs of life of persons in the waste container (12) and / or inside the filling housing (16).

6. System according to any one of claims 1 to 5, characterized by that a weight sensor (34) and / or a gas sensor (35) is arranged or integrated on a lifting device (32) of the refuse vehicle (14) to monitor the weight of the refuse container (12) and / or a concentration of respiratory gases for person detection during the emptying process.

7. System according to any one of claims 1 to 6, characterized by thatthe system (10) with the detection means (20) forms a multisensor which has at least two sensors which are designed as a first camera unit (30a), second camera unit (30b), thermal imaging camera, ultrasonic sensor, weight sensor (34), heartbeat sensor and / or gas sensor (35) and are arranged and combined on the filling housing (16) and are connected to the safe control (28) for evaluation.

8. Method for monitoring an emptying process of waste containers (12) into a filling housing (16) with a press device (18), in particular by means of a system (10) according to one of claims 1 to 7, wherein detection means (20) are arranged on the filling housing (16) to detect persons in the waste container (12) and / or the filling housing (16), wherein the detected sensor data of the detection means (20) are sent to a safety controller (28) and are evaluated for person detection, wherein immediately following person detection, the operation of the press device (18) is stopped by the safety controller (28).

9. Method according to claim 8, characterized by thatFor monitoring purposes, a multisensor with at least two combined sensors is used, in particular a combination of a first camera unit (30a), a second camera unit (30b), a thermal imaging camera, an ultrasonic sensor, a weight sensor (34), a heartbeat sensor and / or a gas sensor (35) or multiples of the individual sensors, wherein the evaluation and merging of the sensor signals of the multisensor comprises the following steps: - data integration, wherein raw data from each sensor are fed into the safe control system and synchronized with each other, - feature extraction of data relevant for person detection, - combining the extracted features and analyzing the merged sensor data to detect the presence of persons, - interrupting the emptying process following the detection of a person.

10. Method according to claim 9, characterized by thatAnalyzing the extracted features includes an assessment of the probability of a person's presence, taking into account weighting factors for each sensor signal.

11. Method according to claim 9 or 10, characterized by that For the evaluation of the extracted features, contextual information on the environmental conditions and / or the type of filling housing is included, in particular the position of the garbage truck, the ambient temperature and / or training measurements for predetermined waste container types and / or a characteristic type of waste.

Images