DETECTION SYSTEM FOR A SIDE LOADING WASTE COLLECTION VEHICLE

Abstract

A detection system for a side loading waste collection vehicle with a side lifting arm for lifting and lowering a bin and a gripping assembly near the end of the lifting arm, including one or more sensors to detect the presence of an object or person, control means to receive and process sensor input to control the operation of the lifting arm, wherein the detection system defines two zones where a first zone covers the space through which the bin moves between a raised and a lowered position and a second zone is the space surrounding the first zone; in use the movement of the lifting arm is stopped when a person or object is detected within the first zone and when a person or object is detected moving within the second zone.

Claims

1. A detection system for a side loading waste collection vehicle with a side lifting arm for lifting and lowering a bin and a gripping assembly near the end of the lifting arm, including one or more sensors to detect the presence of an object or person; a camera mounted on or adjacent the lifting arm, the camera able to detect the colour of the bin or the colour of a lid of the bin; and control means to receive and process sensor input and input from the camera to control the operation of the lifting arm, wherein the detection system defines two zones where a first zone covers the space through which the bin moves between a raised and a lowered position and a second zone is the space surrounding the first zone, and wherein in use the movement of the lifting arm is stopped when a person or object is detected within the first zone and when a person or object is detected moving within the second zone, and wherein the control means controls the operation of the lifting arm based on the colour of the bin or the lid of the bin.

2. A detection system as claimed in claim 1, wherein an alarm is activated when the presence of the object or person is detected in the second zone.

3. A detection system as claimed in claim 1, wherein the movement of the lifting arm is continued when a person or object is detected stationary in the second zone.

4. A detection system as claimed in claim 1, wherein there are predefined exceptions to detected objects where movement of the lifting arm can occur.

5. A detection system as claimed in claim 4, wherein the control means analyses the input from the one or more sensors and continues movement of the lifting arm when the detected object is determined to be a predefined exception.

6. A detection system as claimed in claim 5, wherein the control means continues movement of the lifting arm when the object is determined to be a predefined exception within the first zone.

7. A detection system as claimed in claim 5, wherein the predefined exceptions include a post box, a tree, a bush or a rubbish bin adjacent to the bin.

8. A detection system as claimed in claim 1, wherein the control means overrides the sensor input and continues movement of the lifting arm when the bin has been returned to the ground.

9. A detection system as claimed in claim 1, wherein the control means overrides the sensor input and continues movement of the lifting arm when the bin is at a predetermined height above the ground.

10. A detection system as claimed in claim 9, wherein the predetermined height is below the vertical scanning height of the sensors.

11. A detection system as claimed in claim 1, wherein one of the one or more sensors is mounted towards the rear of the waste collection vehicle and able to detect a moving object between the rear of the vehicle and the lifting arm.

12. A detection system as claimed in claim 1, wherein the camera is able to detect the size and shape of the bin, and the control means controls the operation of the lifting arm based on the size and shape of the bin.

13. (canceled)

14. A detection system for a side loading waste collection vehicle with a side lifting arm for lifting and lowering a bin and a gripping assembly near the end of the lifting arm, including one or more sensors to detect the presence of an object or person; a camera mounted on or adjacent the lifting arm, the camera able to detect the colour of the bin or the colour of a lid of the bin; and control means to receive and process sensor input and input from the camera to control the operation of the lifting arm, wherein the detection system defines two zones where a first zone covers the space through which the bin moves between a raised and a lowered position and a second zone is the space surrounding the first zone, and wherein in use the movement of the lifting arm is stopped when a person or object is detected within the first zone and an alarm is activated when the presence of the object or person is detected in the second zone, and wherein the control means controls the operation of the lifting arm based on the colour of the bin or the lid of the bin.

15. A detection system as claimed in claim 14, wherein the alarm includes a flashing light or an audible alarm.

16. A side loading waste collection vehicle having a detection system as claimed in claim 1.

17. A system for lifting and lowering a lifting arm of a side loading waste collection vehicle including one or more sensors to detect the presence of an object or person; a camera mounted on or adjacent the lifting arm, the camera able to detect the colour of the bin or the colour of a lid of the bin; control means to receive and process sensor input and input from the camera to control the operation of the lifting arm; and actuation means to actuate the movement of the lifting arm in response to operational signals from the control means, wherein the system defines two zones where a first zone covers a space through which the bin moves between a raised and a lowered position and a second zone is a space surrounding the first zone, and wherein in use the movement of the lifting arm is stopped when a person or object is detected within the first zone and when a person or object is detected moving within the second zone, and wherein the control means controls the operation of the lifting arm based on the colour of the bin or the lid of the bin.

18. A system as claimed in claim 17, wherein the camera is able to detect the size and shape of the bin, and the control means controls the operation of the lifting arm based on the size and shape of the bin.

19. A system as claimed in claim 17, wherein there are predefined exceptions to detected objects where movement of the lifting arm can occur, and wherein the control means analyses the input from the one or more sensors and continues movement of the lifting arm when the detected object is determined to be a predefined exception.

20. A side loading waste collection vehicle having a system for lifting and lowering a lifting arm as claimed in claim 17.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order that the present invention can be more readily understood reference will now be made to the accompanying drawings which illustrate a preferred embodiment of the invention and wherein:

[0044] FIG. 1 is a diagrammatic view of a vehicle with a non-extended side loading lift arm;

[0045] FIG. 2 is a diagrammatic view of a vehicle with an extended side loading lift arm;

[0046] FIG. 3 is a diagrammatic view of a vehicle with an extended side loading lift arm that has grabbed and beginning to lift a bin;

[0047] FIG. 4 is a diagrammatic view of a vehicle with an extended side loading lift arm that has grabbed a bin and lifted it to the hopper;

[0048] FIG. 5 is a diagrammatic plan view of a vehicle with an extended side loading lift arm and showing second zone and first zone; and

[0049] FIG. 6 is a diagrammatic rear end view of a vehicle with an extended side loading lift arm and showing second zone and first zone.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

[0050] With reference to FIGS. 1 to 6, there is shown a waste collection vehicle 10 having a side loading lift arm 11. The side loading lift arm 11 extends from the side of the waste collection vehicle 10 from behind cabin 12. FIGS. 1 to 4 show the sequence of grabbing a bin 13 and lifting the bin 13 above the waste collection vehicle 10 so that the contained rubbish falls from the bin 13 into the hopper of the waste collection vehicle 10.

[0051] The side loading lift arm 11 extends from the side of the waste collection vehicle 10 to grab the bin 13. The operation of the side loading lift arm 11 is electrically controlled. The electrically controlled hydraulically actuated side loading lift arm 11 is either controlled by an automated system using a camera and sensors or manually operated by the driver within the vehicle cabin 12.

[0052] The operation of the side loading lift arm 11 is further controlled by a safety detection system that overrides the automated or manual instruction of moving the side loading lift arm 11 when an object is detected near the side loading lift arm 11.

[0053] The detection system uses input from several sensors and camera to detect the movement of the object (including persons).

[0054] There is a rear motion sensor 15 located towards the rear of the vehicle 10 and approximately 1.2 meters above the ground. There is also an object detection sensor 16 mounted on the side loading lift arm 11 and preferably above the side loading lift arm actuator. There is a camera 17 mounted on the body of the waste collection vehicle 10 above the side loading lift arm 11. There is also a front motion sensor 18 that is positioned forward of the side loading lift arm 11 and at near or on the vehicle cabin 12.

[0055] The space around the side loading lift arm 11 has been divided into two sectors where the space immediately around the side loading lift arm 11 including the space where the bin travels from the ground moving in an arc between the vehicle hopper and the ground. The space immediately around the travel space of the lift arm 11 is termed the first zone 20. The space around the first zone 20 and between the front of the vehicle cabin 12 to the rear of the vehicle is termed the second zone 21.

[0056] The sensors and camera provide input to a processor that analyses the input using predefined algorithms to provide instruction to electrically control the movement of the side loading lift arm 11. The programming detects any moving object such as a pedestrian, cyclist, windblown object or vehicle in second zone 21 and provides and activates an alarm being an audio alarm and a warning flashing light. Where the speed of the object is above a predetermined threshold, then the alarm is activated as well as the movement of the side loading lift arm 11 is stopped. If an object (whether moving or not) is detected in the second zone 21, an alarm is activated. If an object (whether moving or not) is detected in the second zone 21, the operation of the side loading lift arm 11 is stopped. The activated alarm in response to the detection of an object in the second zone 21 is, in the preferred embodiment, a different alarm that would be activated in response to a detection in the second zone 21. By way of example the alarm could be a different audio alarm and/or a different flashing warning light.

[0057] The detection system is started when the side loading lift arm 11 is aligned with the adjacent bin 13 and prior to its movement. The detection system overrides the sensor input and continues movement of the lifting arm when the bin 13 has been lowered to a predetermined level such as when the sensors can no longer provide accurate assessment of the space surrounding the side loading lift arm 11 or when the bin is returned to the ground.

[0058] The detection system is an override system primarily designed for the safety of people moving past or standing near the bin as the waste collection vehicle 10 collects the rubbish bin.

[0059] The detection system for an object or person has the advantage of preventing accidentally placing a bin on an object or causing injury to a person. The detection system of the preferred embodiment has the advantage that it can be retro-fitted to existing side loading waste collection vehicles, thereby increasing the safety to all those around the waste collection vehicle.

Variations

[0060] It will of course be realised that while the foregoing has been given by way of illustrative example of this invention, all such and other modifications and variations thereto as would be apparent to persons skilled in the art are deemed to fall within the broad scope and ambit of this invention as is herein set forth.

[0061] Throughout the description and claims of this specification the word comprise and variations of that word such as comprises and comprising, are not intended to exclude other additives, components, integers or steps.