Patent Application
20170369242
Not applicable
Not applicable
The present invention relates generally to automating refuse collection vehicles and, more particularly, to a system for handling refuse containers that automatically approaches, grabs and picks up refuse containers, empties the containers into the refuse vehicle and returns the container back to the exact location where it was picked up. The system employs a vehicle-mounted camera for aligning a container handling arm with a container of interest and employs a sonar transducer located in a base portion of the arm that. includes a converging grabber that seizes and releases a container for more precise control.
Refuse vehicles have long played an important role in the collection and transporting of refuse by stopping at numerous locations along a route where refuse containers that have been filled with refuse await collection, handling the containers to deposit the contents in the refuse vehicle, transporting the refuse, and discharging it at a processing center such as a land fill or recycling center.
In this regard, there has been a growing need to increase efficiency by further automating the collection aspect of the operation, particularly with respect to reducing the need for manual interaction in the handling of refuse containers. While the lift and dump portion of the container handling operation have generally been mechanized, it has been necessary for the refuse truck driver to manually align the vehicle with a container of interest and, in the case of a side-loading vehicle, manually control the operation of an arm that includes a base that grabs and releases a container, initiate a dump cycle, and manually retract the arm to a stowed position. Thus, there remains a need to more fully automate the container handling phase of the operation that eliminates accidental tipping of containers which often occurs with a manual arm extension operation as well as other problems which occur due to lack of precision.
A fully automated container handling system for a refuse vehicle is provided that utilizes a vehicle-mounted video camera which feeds video to a cab-mounted monitor to inform a driver of the location of a container of interest enabling accurate alignment of the vehicle. The system includes an extending, pivoting arm with a base equipped with a converging grabber to seize and empty the container. The base that grabs the container includes a sonar transducer that functions with a hydraulic system that operates the arm and grabber using a programmable logic controller (PLC) computer program to run the hydraulic controls. An illustrative preferred embodiment is shown mounted on a side-loading refuse vehicle. A seized container is hoisted along the pivoting arm by a chain, cable or belt, as the base assembly is mounted to move along the arm.
In operation, the vehicle driver pulls up next to a refuse container to be emptied using the camera to locate the container and stops the vehicle when the container appears on the monitor. The driver then activates a safety on/off finger trigger, or the like, on a joy stick installed in the cab next to the driver and pushes another button on the joy stick to activate the PLC program which controls the arm during the container emptying cycle. The container emptying cycle is initiated with the arm in the stowed position. The arm pivots, extending the base outward toward the container until the sonar transducer indicates the desired proximity of the container before hitting the container. This distance might be as close as one inch (2.5 cms). The grabber is then activated to close around and seize the container. The arm then retracts and lifts and dumps the contents of the container into a receiving zone of the vehicle body. The steps are then reversed to return the container to the exact location where it was picked up, release the container and return the arm to the stowed or home position. The entire cycle is accomplished by the operation of a single button in the cab.
The use of sonar and cameras together enables the process to be completely automated and eliminates common problems associated with arm operation including hitting and tipping of containers.
In the drawings
The following detailed description is intended to be exemplary of a preferred apparatus and method of utilizing the concepts of the present invention and is not intended to exhaustive or limiting in any manner with respect to similar devices and methods and other variations which might occur to those skilled in the art. The following description further utilizes an illustrative example which is believed sufficient to convey an adequate understanding of the broader concepts to those skilled in the art, and exhaustive examples are believed unnecessary.
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In operation, the video camera sends a continuous picture to a monitor mounted in the vehicle cab (not shown). The video depicts refuse containers alongside of the vehicle as it moves along a street or alleyway and the driver stops the vehicle when a container to be emptied appears on the monitor. The driver then activates a safety on/off finger trigger, or the like, on a joy stick installed in the cab next to the driver and pushes another button on the joy stick to activate the PLC program which controls the arm during the container emptying cycle. Joy sticks and triggers of the type described are well known and need not be described further to those skilled in the art.
The container emptying cycle is initiated with the arm in the stowed position. With the sonar operating, the arm pivots, extending the base outward toward the container until the sonar transducer indicates the desired proximity of the container just short of hitting the container. This distance might be as close as one inch (2.5 cms). The grabber is then activated to close around and seize the container. The arm then retracts and lifts and dumps the contents of the container into a receiving zone or charge hopper of the vehicle body. The steps are then reversed to return the container to the exact location where it was picked up, release the container and return the arm to the stowed or home position.
This invention has been described herein in considerable detail in order to comply with the patent statutes and to provide those skilled in the art with the information needed to apply the novel principles and to construct and use embodiments of the example as required. However, it is to be understood that the invention can be carried out by specifically different devices and that various modifications can be accomplished without departing from the scope of the invention itself.
