RU2638531C2 - System of separate collection and garbage transportation - Google Patents

Abstract

FIELD: radio engineering, communication.

SUBSTANCE: in the system, the garbage collection is carried out by several transport facilities (TF) equipped with trailed means 24 of garbage collection, moving along specified trajectories. Each TF is equipped with a video camera 2, located in a capture zone 23 of a manipulator 10 connected through a video input plane 3 to a computer 4 that has a radio station 5, through which the radio communication with the radio station 30, the computer 28 and a monitor 29 of a control center 27 is performed. An additional video cameras 18 with a multiplexer 19, a sensor 7 for measuring the direction of travel, a sensor 8 of the covered distance, an actuator 9, with its output connected to a manipulator 10, sensors 11 of a garbage type, an ultrasonic locating sensor 12, a sensor 13 of horizontal level, an adjustable TF suspension 14, a signalling device 15, the first pair of horizontal and vertical angles of rotation sensors 17 of the video camera 2 and the first horizontal and vertical moving drives 16 of the video camera 2 connected to the inputs of the first pair of the sensors 17 of the horizontal and vertical angles of rotation are installed on the TF and connected to the computer 4. One of the additional video cameras 18 is equipped with the second drives 21 of horizontal and vertical travel, the control inputs of which are connected to the computer 4, and the second outputs are connected to the corresponding inputs of the second pair of sensors 22 of horizontal and vertical angles of rotation, their outputs are connected to the computer 4. The two remaining video cameras form a system of stereo supervision.

EFFECT: increase in productivity by reducing the user participation.

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Description

The present invention relates to the field of public utilities, in particular to systems for the separate collection and transportation of garbage in forest zones and squares, resulting from festive festivities and social events.

Known garbage truck [1], containing a manipulator for loading garbage.

The disadvantages of this garbage truck are: cumbersomeness, excluding its use in forest park areas and squares; the need for a driver to transport garbage; the impossibility of separate collection of garbage; limited coverage.

Also known is a system [2] for handling solid waste of consumption, comprising a monitoring and control point (command post), including a series-connected radio station, a processor (computer) and a dispatcher’s workstation with a recording device (monitor), at least one vehicle for transportation of waste (garbage) with a radio station, waste nature sensors and signal sensors, while the radio stations of the control and management center (command post) and the vehicle are connected by a radio channel and as a vehicle signal sensor, a full load sensor is used, that it is equipped with at least one waste collection device based on a waste container equipped with at least one receiving hopper, while a radio station, waste character sensors and vehicle signal sensors for Waste transportation connected to the control and processing unit (computer).

The disadvantages of this system of solid waste management of consumption are its complexity, as well as the lack of the possibility of separate collection and transportation of garbage in forest parks and squares without the participation of customers (local residents) and drivers of vehicles.

Closest to the proposed system of separate collection and transportation of garbage is a video surveillance system [3] from a vehicle in motion, containing several vehicles, the number of which is determined by the complexity and area of the protected area, each of which contains a high-resolution video camera with the ability to change its focal length distances, and (or) aperture changes, and (or) focus settings to ensure aiming at a target (garbage element) connected via a video capture card to a computer to which a vehicle’s transmitting and receiving device (radio station) is connected, providing communication via radio channel through a command and receiving device (radio station) with a command station computer to which a monitoring monitor is connected, a sensor for measuring the direction of its movement is installed on the vehicle, a distance sensor, an ultrasonic location sensor and an alarm device connected to the vehicle computer to which first drives of horizontal and vertical movement of a high-resolution video camera, the outputs of which are connected to the corresponding inputs of the first pair of sensors of horizontal and vertical rotation angles, connected to the vehicle computer with their outputs, and the vehicle additionally contains several video cameras connected to the computer through a multiplexer, two of which located at a certain angle relative to each other make up a stereo monitoring system, and one of the additional video cameras are equipped with second drives of horizontal and vertical movement, the control inputs of which are connected to the computer, and the second outputs are connected to the corresponding inputs of the second pair of sensors of horizontal and vertical rotation angles, their outputs are connected to the computer, a rod equipped with an actuator is installed on the vehicle, control input which is connected to the vehicle computer, and horizontal sensor ur connected to the vehicle computer Aries and adjustable vehicle suspension.

The disadvantage of this video surveillance system from a vehicle in motion is the impossibility of separate collection of garbage during the movement of the vehicle.

The aim of the present invention is to expand the functionality and increase the efficiency of the system by providing separate collection and transportation of garbage in forest park areas and public gardens without involving people (cleaners, janitors).

To achieve this goal, a system for separate collection and transportation of garbage containing several vehicles, the number of which is determined by the complexity and area of the cleaned area, each of which contains a high-resolution video camera with the ability to change its focal length, and (or) change the aperture, and (or ) settings for focus to ensure pointing to the garbage element connected via the video capture card to the computer to which the vehicle’s radio station is connected, providing on the radio channel through the radio station of the command post with the computer of the command post to which the monitoring monitor is connected, the vehicle has a sensor for measuring the direction of its movement, a sensor for the distance traveled, an ultrasonic location sensor and an alarm device connected to the vehicle computer to which the first drives are connected horizontal and vertical movement of a high-resolution video camera, the outputs of which are connected to the corresponding inputs of the first pair of sensors in the horizontal and vertical angles of rotation, with their outputs connected to the vehicle’s computer, and the vehicle additionally contains several video cameras connected to the computer through a multiplexer, two of which, located at a certain angle relative to each other, comprise a stereo surveillance system, and one of the additional video cameras located on the rod is equipped with second drives of horizontal and vertical movement, the control inputs of which are connected to the computer, and the second outputs are connected to the corresponding inputs of the second pair of sensors of horizontal and vertical rotation angles, connected to a computer by their outputs, while the vehicle has a horizontal level sensor and adjustable vehicle suspension connected to the computer, and the rod is equipped with an actuator, the control input of which connected to the vehicle computer, a manipulator mounted on the rod connected to the actuator, full sensors narrow connected to the computer and installed in the receiving bins located in the trailed means of garbage collection, character sensors (type) of garbage connected to the computer and installed in the capture area of the manipulator together with a high-resolution video camera, while the manipulator has the ability to rotate around the bar, and as sensors for the nature (type) of garbage, sensors of paper, plastics, glass and metal are used.

The proposed technical solution has novelty, inventive step and industrial applicability, i.e. all the criteria of the invention.

The novelty and inventive step are confirmed by patent research, and industrial applicability is due to the fact that commercially available non-deficient components are needed for the implementation of the system: computers, video cameras, radio stations, sensors, etc.

The invention is illustrated in the drawings (Fig. 1 - Fig. 3), where in Fig. 1 is a structural diagram of a system using one vehicle as an example; FIG. 2 shows a general view of one vehicle with a trailed garbage collection device and receiving hoppers, and FIG. 3 - the principle of operation of the system using multiple vehicles.

On each vehicle 1 (Fig. 1, Fig. 2), the number of which is selected taking into account the complexity and length of the cleaned area, a high-resolution video camera 2 is installed, with the ability to change the focal length, and (or) change the aperture, and (or) settings focus to ensure that the garbage element connected through the video capture card 3 (Fig. 1) to the computer 4, to which the radio station 5 with the antenna 6 is connected, is connected to the computer 4; a sensor 7 for measuring the direction of movement (compass or gyroscope), sensor 8 go through of the real way (odometer), actuator 9, controlling the manipulator 10 (Fig. 1, Fig. 2) with a high-resolution video camera 2 installed on it, sensors for determining the nature (type) of garbage 11 (Fig. 1), an ultrasonic location sensor 12, a horizontal level sensor 13, an adjustable vehicle suspension 14 (with pneumatic or hydraulic actuator) and an alarm device 15 (Fig. 1, Fig. 2) (for example, a flashlight and (or) siren). The high-resolution video camera 2 is equipped with the first drives 16 of horizontal and vertical movement, to the second outputs of which is connected the first pair of sensors 17 of the horizontal and vertical angles of rotation of the high-resolution video camera 2. The outputs of the sensors 17 horizontal and vertical angles of rotation and the control inputs of the actuators 16 horizontal and vertical movement of the high-definition camera 2 are connected to a computer 4, to which additional cameras 18 are also connected via a multiplexer 19.

Among the additional video cameras 18, two video cameras 18.1, 18.2 (Fig. 1, Fig. 2) installed in front of the vehicle 1 form a stereo surveillance system for fixing trash elements and foreign objects that interfere with the movement of the vehicle 1 along a given route, and one controllable video camera 18.3 all-round view, providing the "training" of the vehicle and its subsequent movement along a given route, is installed at the end of the remote rod 20 (Fig. 2), mounted on the roof of the vehicle 1. Moreover board 18.3 is provided from the video camera 4 via the second computer 21 drives the horizontal and vertical movement, to the second output of which is connected to the second pair of sensors 22, horizontal and vertical rotation angles, their outputs connected to the computer 4.

On the remote rod 20 (Fig. 2) there is also a manipulator 10 with the possibility of its rotation around the rod, and at the end of the manipulator is a grip 23 (for example, a collet), a high-resolution video camera 2 and sensors 11 (not shown in Fig. 2) of a character ( type) garbage (paper sensor 11-1, plastic mass sensor 11-2, glass sensor 11-3 and metal sensor 11-4).

Towed to the rear of the vehicle is a trailed means 24 for collecting garbage (Fig. 2) with four receiving bins 25 for the type of garbage (paper, plastic, glass, metal). All receiving bins are equipped with full load sensors 26 (not shown in FIG. 2), the outputs of which are connected to computer 4.

At command post 27, there is a command post computer 28 to which a monitor 29 and a command station radio 30 with an antenna 31 are connected. Communication between the vehicle’s antenna 6 and the command post antenna 31 is carried out via a radio communication channel 32.

Before the practical application of the system of separate collection and transportation of garbage, they "prepare" the cleaned area (Fig. 3) and "train" each vehicle for its autonomous movement along a given route. For this purpose, trajectories from point A to point B of each vehicle of the separate garbage collection system are laid out on a map of the territory to be cleaned and their number selected (six vehicles are shown as an example in Fig. 3) in such a way as to ensure that the entire territory. Next, the operator with his computer alternately connects to the computer 4 of each vehicle and already on the ground (driving the vehicle from his computer) guides the vehicle along a given route (trajectory), periodically (over certain distances) stopping and fixing with the help of a controllable video camera 18.3 supporting objects (trees, lanterns, benches, etc.). Video images of the reference objects recorded by the computer 4 of the “trained” vehicle through the given distances and the corresponding rotation angles ϕ, make it possible to calculate and remember the trajectory of movement along the computer 4 along which the “trained” vehicle will continue to independently move.

In the process of the vehicle moving along the given trajectory of the camera 18.1, 18.2, the stereo surveillance cameras fix the debris located there and when it is detected, computer 4 actuates the manipulator 10 using the actuator 9, and with the help of drives 16 of horizontal and vertical rotation directs the video camera 2 high permissions on the detected garbage item.

Using the sensors 11 of the nature (type) of the garbage, the type of garbage (paper, plastic, glass or metal) is determined, after which the manipulator 10 transfers the detected garbage element to the receiving bin 25 corresponding to this type of garbage using the capture device 23 from the computer 4.

When one or another receiving hopper is full, the signal from the full load sensor 26 installed in it arrives at computer 4, which turns on the alarm device 15 and sends a warning signal to the dispatcher at command post 27 via radio channel 32 to replace this receiving hopper.

In the event of uncertainty in determining the type of garbage, computer 4, via radio stations 5 and 30, transmits to the command point 27 an image from the camera 2 for display on the monitor 29 of the situation and decision-making by the duty dispatcher.

When foreign insurmountable objects appear on the route of a vehicle, they are sequentially detected by stereo cameras 18.1, 18.2 and identified as insurmountable by an ultrasonic location sensor 12. The vehicle bypasses these objects and, guided by the previously marked reference points, returns to a given trajectory.

When the vehicle moves on an uneven surface, the horizontal level sensor 13 detects the deviation of the vehicle platform from the horizontal level and, upon command from computer 4, the pneumatic or hydraulic drives of the adjustable suspension 14 are turned on to level the vehicle to prevent it from tipping over.

The introduction of manipulators with character sensors (type) of garbage into the vehicles of the known system allows all vehicles included in the system, in the process of their movement along the given routes (trajectories), select the detected garbage elements and store them in the appropriate receiving bins of the trailed garbage collection facilities in any time of day and in any weather, which extends the functionality of the system, and the absence of the need for the participation of people (cleaners, janitors) in the collection of garbage gives additional savings cal effect of the use of the claimed system in practice.

The system has a constructive and functional unity of all its elements, providing numerous pedestrian paths in forest park areas, squares and parks to clean up debris.

Literature

1. Patent RU 71971 U1 for utility model (analogue). Garbage truck. Posted: 03/27/2008.

2. Patent RU 2230015 C1 for an invention (analogue). Solid Waste Management System. Published 06/10/2004.

3. Patent RU 113395 U1 for utility model (prototype). Video surveillance system from a vehicle in motion. Published 02/10/2012

Claims (1)

A separate garbage collection and transportation system containing several vehicles, the number of which is determined by the complexity and area of the harvested area, each of which contains a high-resolution video camera with the ability to change its focal length, and / or change the aperture, and / or adjust the focus to provide guidance to the garbage item connected via the video capture card to a computer to which the vehicle’s radio station is connected, providing communication over the radio channel through the radio station the command post with the computer of the command post to which the monitoring monitor is connected, a vehicle has a sensor for measuring the direction of its movement, a traveled sensor, an ultrasonic location sensor and an alarm device connected to the vehicle computer, to which the first drives of horizontal and vertical movement of the video camera are connected high resolution, the outputs of which are connected to the corresponding inputs of the first pair of sensors of horizontal and vertical angles turn, connected to the vehicle computer with its outputs, and the vehicle additionally contains several video cameras connected to the computer via a multiplexer, two of which, located at a certain angle relative to each other, make up a stereo monitoring system, and one of the additional video cameras located on the boom equipped with second drives of horizontal and vertical movement, the control inputs of which are connected to the computer, and the second outputs are connected to the corresponding the input inputs of the second pair of sensors of horizontal and vertical rotation angles, connected to a computer by their outputs, while the vehicle has a horizontal level sensor and an adjustable vehicle suspension connected to the computer, and the rod is equipped with an actuator, the control input of which is connected to the vehicle computer characterized in that trailed means with receiving bins for garbage are introduced, a manipulator mounted on a rod connected to lnym mechanism debris sensors character type connected to the computer and installed in the grip zone of the manipulator, wherein the manipulator is rotatable around the shaft.

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