System for determining the spatial position of an object by means of a video optical sensor
First Claim
1. A system for determining the spatial position of a garbage can which is provided with at least one receiving pocket defined by an upper skirt and the wall of said garbage can and for receiving a pick-up claw of a lifting and tipping mechanism of a garbage collecting truck by means of a video optical sensor which detects predetermined features of said garbage can and generates signals corresponding to the position of said predetermined features and processes said signals in an electronic computer controlling means for driving said pick-up claw and said lifting and tipping mechanism, said system comprising providing at least three retroreflective marks on said upper skirt of said garbage can in a predetermined pattern and angularly related to each other, a light source for illuminating said retroreflective marks, a semiconductor camera including an area sensor located in juxtaposition to and in spatial association with said light source which detects said predetermined features and inputs them into said electronic computer which initiates said controlling means and drives said pick-up claw and said lifting and tipping mechanism for grasping and moving said garbage can, and a radar unit located on the lower portion of said garbage truck which serves to monitor the range of movement of said pick-up claw and to arrest said pick-up claw when said radar unit detects an additional movement in the area under surveillance.
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Accused Products
Abstract
There is disclosed a system for determining the spatial position of an object with a video optical sensor which detects predetermined features of this object and generates signals which correspond to the features, the signals being then processed in an electronic computer connected to a control handling circuit of a handling apparatus, such as a garbage collecting truck provided with a pick-up claw and a lifting and tipping mechanism for picking up the garbage can which is provided with a receiving pocket for the pick-up claw. In the system, the object, such as the garbage can, is provided with at least three retroreflective marks arranged in a predetermined pattern, angularly related to each other and illuminated by a light source, and a semiconductor area having an area sensor disposed in juxtaposition to and in spatial association with the light source so that the pick-up claw is guided into the receiving pocket of the can for lifting and tipping thereof to empty it.
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Citations
8 Claims
- 1. A system for determining the spatial position of a garbage can which is provided with at least one receiving pocket defined by an upper skirt and the wall of said garbage can and for receiving a pick-up claw of a lifting and tipping mechanism of a garbage collecting truck by means of a video optical sensor which detects predetermined features of said garbage can and generates signals corresponding to the position of said predetermined features and processes said signals in an electronic computer controlling means for driving said pick-up claw and said lifting and tipping mechanism, said system comprising providing at least three retroreflective marks on said upper skirt of said garbage can in a predetermined pattern and angularly related to each other, a light source for illuminating said retroreflective marks, a semiconductor camera including an area sensor located in juxtaposition to and in spatial association with said light source which detects said predetermined features and inputs them into said electronic computer which initiates said controlling means and drives said pick-up claw and said lifting and tipping mechanism for grasping and moving said garbage can, and a radar unit located on the lower portion of said garbage truck which serves to monitor the range of movement of said pick-up claw and to arrest said pick-up claw when said radar unit detects an additional movement in the area under surveillance.
Specification