System for determining the spatial position of an object by means of a video optical sensor

• US 5,215,423 A
• Filed: 09/21/1990
• Issued: 06/01/1993
• Est. Priority Date: 09/21/1990
• Status: Expired due to Term

• Current Assignee: Edelhoff Polytechnik GmbH & Company Heckenkamp 5860 Iserlohn FED REP of Germany
• Original Assignee: Edelhoff Polytechnik GmbH & Company
• Inventors: Schulte-Hinsken, Stefanie, Kirchhoff, Johannes
• Primary Examiner(s): Huppert, Michael S.
• Assistant Examiner(s): KEENAN, JAMES W
• Application Number:
  US07/586,448
• Time in Patent Office: 984 Days
• Field of Search: 414/303, 414/406, 414/407, 414/408, 414/409, 414/909, 901/6, 901/47
• US Class Current: 414/408
• CPC Class Codes: B65F 2003/0279 the discharging means mounted at the front of the vehicle
• CPC Class Codes: B65F 3/00 Vehicles particularly adapted for collecting refuse vehicles in general B60; driving vehicle equipment or auxiliaries B60K; discharging contents by tilting entire vehicles B65G; wheeled apparatus for emptying sewers or cesspools E03F7/10
• CPC Class Codes: B65F 3/001 for segregated refuse collecting, e.g. vehicles with several compartments
• CPC Class Codes: G01S 17/875 for determining attitude
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 17/89 for mapping or imaging

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.

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.

2. A system according to claim 1, wherein the garbage can has five retroreflective marks arranged thereon.

3. A system according to claim 2, wherein four of the marks constitute the corners of a rectangle and the fifth mark is disposed on the point of intersection of the diagonals of said rectangle.

4. A system according to claim 1, wherein each mark disposed at a corner of the predetermined pattern constitutes a redundant mark.

5. A system according to claim 1, wherein the marks consist of retroreflective sheets.

6. A system according to claim 1, wherein the garbage collecting truck is provided, adjacent to the instrument panel, with a monitor which displays the image taken by the semiconductor camera, said image is evaluated by the computer and an activating switch is provided on said garbage collecting truck to effect control of the means for driving the pick-up claw and the lifting and tipping mechanism through said computer.

7. A system according to claim 1 wherein the semiconductor camera is mounted on a bracket behind the windshield of the garbage collecting truck.

8. A system according to claim 1 wherein the light source is a light projector which is disposed close to the semiconductor camera.