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WO2018064727A1 - Système de détection d'objets sur le côté d'un véhicule - Google Patents

Système de détection d'objets sur le côté d'un véhicule Download PDF

Info

Publication number
WO2018064727A1
WO2018064727A1 PCT/AU2017/051089 AU2017051089W WO2018064727A1 WO 2018064727 A1 WO2018064727 A1 WO 2018064727A1 AU 2017051089 W AU2017051089 W AU 2017051089W WO 2018064727 A1 WO2018064727 A1 WO 2018064727A1
Authority
WO
WIPO (PCT)
Prior art keywords
waste collection
collection vehicle
person
vehicle
detection system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/AU2017/051089
Other languages
English (en)
Inventor
Robert Wrigley
Michael Pronger
Rowland Errington
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Superior Pak Holdings Pty Ltd
Original Assignee
Superior Pak Holdings Pty Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from AU2016904080A external-priority patent/AU2016904080A0/en
Application filed by Superior Pak Holdings Pty Ltd filed Critical Superior Pak Holdings Pty Ltd
Publication of WO2018064727A1 publication Critical patent/WO2018064727A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F3/04—Linkages, pivoted arms, or pivoted carriers for raising and subsequently tipping receptacles
    • B65F3/041—Pivoted arms or pivoted carriers
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/12—Trucks; Load vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F2003/0263—Constructional features relating to discharging means
    • B65F2003/0279—Constructional features relating to discharging means the discharging means mounted at the front of the vehicle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/147—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using electro-magnetic technology, e.g. tags or radar

Definitions

  • the present invention relates to detection systems for vehicles.
  • the present invention has particular but not exclusive application for detection of a bollard near a side of a vehicle.
  • Reference in the specification will be made to waste collection vehicles that lift bins from the front of the vehicle, but the invention is not limited to this type of vehicle.
  • Waste collection vehicles that lift a bin from the front of the vehicle are currently operated manually to align the vehicle with the bin. In small areas and confined spaces, the waste collection vehicle often needs to manoeuvre into position to collect a refuse bin.
  • the vehicle needs to avoid obstacles such as bollards and parked vehicles.
  • the present invention broadly resides in a detection system for detecting an object or a person near a side of a waste collection vehicle when the vehicle is moving, the detection system including:
  • one or more proximity sensors to detect the presence of an object or person within a predetermined distance of the side of the waste collection vehicle, and provide a detection output signal
  • one or more direction sensors to detect the direction of movement of the waste collection vehicle, and provide a direction output signal; a controller to receive and process the output signals from the sensors to control the operation of the waste collection vehicle, wherein when the presence of the object or person is detected within the predetermined distance and the waste collection vehicle is determined to be moving towards the object or person, the controller actuates a control response to the operation of the vehicle.
  • control response includes activating an alarm, stopping the movement of the waste collection vehicle, steering the waste collection vehicle away from the detected object or person, and/or activating a warning light.
  • stopping the movement of the waste collection vehicle includes applying brakes of the waste collection vehicle.
  • the controller actuates the brakes to stop the movement of the waste collection vehicle.
  • the detection system further includes a speed sensor to determine the speed of the waste collection vehicle and provide a speed output signal.
  • the controller receives and processes the speed output signal from the speed sensor to control the operation of the waste collection vehicle, wherein when the speed is determined to be below a predetermined value, the presence of the object or person is detected within a predetermined distance and the waste collection vehicle is determined to be moving towards the object or person, the controller actuates the control response.
  • the speed sensor is a speedometer.
  • the detection system further includes a GPS receiver to determine a location of the waste collection vehicle and provide a location output signal.
  • the controller receives and processes the output signal from the GPS receiver to control the operation of the waste collection vehicle, wherein when the location of the waste collection vehicle is determined to be within a predetermined area, the presence of the object or person is detected within a predetermined distance and the waste collection vehicle is determined to be moving towards the object or person, the controller actuates the control response.
  • the detection system further includes a signal receiver to determine the proximity of a signal transmitter and provide a proximity output signal.
  • the controller receives and processes the proximity output signal from the signal receiver to control the operation of the waste collection vehicle, wherein when the corresponding signal transmitter is determined to be within a predetermined distance of the waste collection vehicle, the presence of the object or person is detected within a predetermined distance and the waste collection vehicle is determined to be moving towards the object or person, the controller actuates the control response.
  • the detection system further includes an override input which provides an output signal.
  • the controller receives and processes the output signal from the override input and disables the control response.
  • the override input is a button that can be pressed by the operator of the waste collection vehicle to override the detection system.
  • the one or more proximity sensors include a motion sensor.
  • the one or more proximity sensors include a radar sensor.
  • the one or more proximity sensors includes an infrared sensor, a laser range finder, a photoelectric sensor and/or an ultrasonic sensor.
  • the two proximity sensors near each lateral side of the vehicle are spaced apart and positioned to provide a wide uninterrupted view of most of the corresponding side of the waste collection vehicle.
  • the proximity sensors are located between 50cm and 1 m above a ground surface.
  • the one or more proximity sensors can detect an object or person within a predetermined distance of the vehicle.
  • the predetermined distance is a first predetermined distance and a second predetermined distance.
  • the second predetermined distance is larger than the first predetermined distance.
  • the first predetermined distance is up to one meter from the vehicle and the second predetermined distance is between one meter and two meters from the vehicle.
  • the output signal indicates if the one or more proximity sensors have detected an object in the first predetermined distance or the second predetermined distance.
  • the control response is set to activating an alarm and/or activating a warning light.
  • the control response is set to stopping the movement of the waste collection vehicle and/or steering the waste collection vehicle away from the detected object or person.
  • the one or more direction sensors include an accelerometer.
  • the one or more direction sensors include an inertial sensor, a gyroscope and/or a sensor that detects the angle of the steering wheels of the waste collection vehicle.
  • the one or more direction sensors detect a sideways vector of movement of the waste collection vehicle.
  • the controller preferably includes a programmable logic controller and or processor to process the inputs from the sensors.
  • the side of the waste collection vehicle is a lateral side.
  • the invention broadly resides in a waste collection vehicle, including:
  • a detection system for detecting an object or a person near a side of the waste collection vehicle when the vehicle is moving having:
  • one or more proximity sensors to detect the presence of an object or person within a predetermined distance of the side of the waste collection vehicle, and provide a detection output signal
  • one or more direction sensors to detect the direction of movement of the waste collection vehicle, and provide a direction output signal
  • a controller to receive and process the output signals from the sensors to control the operation of the waste collection vehicle, wherein when the presence of the object or person is detected within the predetermined distance and the waste collection vehicle is determined to be moving towards the object or person, the controller actuates a control response to the operation of the vehicle.
  • the waste collection vehicle is a waste collection vehicle that lifts bins from a front of the vehicle. In another embodiment, the waste collection vehicle lifts bins from a side of the vehicle. In a further embodiment, the waste collection vehicle is a vacuum tanker truck. In yet another embodiment, the waste collection vehicle is a rear loading waste collection vehicle.
  • the invention broadly resides in a waste collection vehicle, including:
  • a detection system for detecting an object or a person near a side of the waste collection vehicle having:
  • one or more proximity sensors to detect the presence of an object or person within a predetermined distance of the side of the waste collection vehicle, and provide a detection output signal
  • one or more direction sensors to detect the direction of movement of the waste collection vehicle, and provide a direction output signal; a controller to receive and process the output signals from the sensors to control the operation of the waste collection vehicle, wherein when the presence of the object or person is detected within the predetermined distance and the waste collection vehicle is determined to be moving towards the object or person, the controller a control response to the operation of the vehicle,
  • the one or more proximity sensors detect the presence of an object or person within the predetermined distance of the side of the waste collection vehicle and send a detection output signal to the controller
  • the one or more direction sensors detect the direction of movement of the waste collection vehicle towards the side on which the object or person has been detected and send a direction output signal to the controller
  • the controller processes the output signals from the sensors and determines that the vehicle is moving towards the detected object or person
  • the controller then actuates the control response to control the operation of the waste collection vehicle.
  • Figure 1 is a schematic side view of a waste collection vehicle with proximity sensors on a side of the waste collection vehicle;
  • Figure 2 is a plan view of the waste collection vehicle with the proximity sensors.
  • a waste collection vehicle 10 that has lifting arms 12 with two tines 14 for lifting up a bin (not shown).
  • the waste collection vehicle 10 has a cab 16 where the driver sits, drives and operates the vehicle 10.
  • the vehicle 10 has two proximity sensors in the form of two radar sensors 18 located on each lateral side of the vehicle 10.
  • the two radar sensors 18 provide a wide uninterrupted view of the corresponding side of the waste collection vehicle 10.
  • the two radar sensors 18 on each lateral side of the vehicle can detect an object or a person (not shown) within a distance of two meters of each corresponding side of the waste collection vehicle 10.
  • the vehicle 10 has one or more direction sensors in the form of an accelerometer 20.
  • the accelerometer 20 can determine the direction that the vehicle 10 is traveling in.
  • the radar sensors 18 and the accelerometer 20 are connected to a controller 22.
  • the controller 22 is operatively connected to the braking system (not shown) of the vehicle 10 and is able to apply the brakes to stop movement of the vehicle 10.
  • the controller 22 is also connected to the speedometer (not shown) of the vehicle 10, so that the controller can determine the speed of the vehicle 10.
  • the vehicle 10 also has an alarm 24 which is connected to the controller 22.
  • the controller 22 is able to activate the alarm 24.
  • An override button 26 is connected to the controller 22. The override button 26 enables the driver (not shown) to override the actions of the controller 22.
  • the controller 22 determines that the vehicle 10 is moving below a predetermined speed, that an object or person (not shown) has been detected within a first predetermined distance on a lateral side of the vehicle 10 by the radar sensors 18 and that the accelerometer 20 indicates that the vehicle 10 is moving towards the side on which the object or person (not shown) has been detected, the controller 22 actuates the brakes of the vehicle 10 to bring the vehicle 0 to a stop.
  • the controller 22 determines that the vehicle 10 is moving below a predetermined speed, that an object or person (not shown) has been detected within a second predetermined distance (which is greater than the first predetermined distance) on a lateral side of the vehicle 10 by the radar sensors 18 and that the accelerometer 20 indicates that the vehicle 10 is moving towards the side on which the object or person (not shown) has been detected, the controller 22 actuates the alarm 24 to alert the driver (not shown) to the presence of the object or person (not shown).
  • the preferred embodiment of the detection system has the advantage of preventing accidentally movement of the waste collection vehicle towards an object or person and preventing impact between the waste collection vehicle and the object or person.
  • the detection system of the preferred embodiment has the advantage that it can be retro-fitted to existing waste collection vehicles, thereby increasing the safety to all those around the waste collection vehicle.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

Système de détection permettant de détecter un objet ou une personne près d'un côté d'un véhicule de collecte de déchets lorsque le véhicule se déplace, le système de détection comprenant un ou plusieurs capteurs de proximité pour détecter la présence d'un objet ou d'une personne dans une distance prédéfinie du côté du véhicule de collecte de déchets, et fournir un signal de sortie de détection, un ou plusieurs capteurs de direction pour détecter la direction de déplacement du véhicule de collecte de déchets, et fournir un signal de sortie de direction, un dispositif de commande pour recevoir et traiter les signaux de sortie provenant des capteurs afin de commander le fonctionnement du véhicule de collecte de déchets, lorsque la présence de l'objet ou de la personne est détectée dans la distance prédéfinie et que le véhicule de collecte de déchets est déterminé comme se déplaçant vers l'objet ou la personne, le dispositif de commande actionne une réponse de commande au fonctionnement du véhicule.
PCT/AU2017/051089 2016-10-07 2017-10-06 Système de détection d'objets sur le côté d'un véhicule Ceased WO2018064727A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AU2016904080A AU2016904080A0 (en) 2016-10-07 Detection system for objects at the side of a vehicle
AU2016904080 2016-10-07

Publications (1)

Publication Number Publication Date
WO2018064727A1 true WO2018064727A1 (fr) 2018-04-12

Family

ID=61830723

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AU2017/051089 Ceased WO2018064727A1 (fr) 2016-10-07 2017-10-06 Système de détection d'objets sur le côté d'un véhicule

Country Status (1)

Country Link
WO (1) WO2018064727A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110803160A (zh) * 2019-11-14 2020-02-18 吉林大学 一种汽车后向防碰撞控制系统及控制方法
EP3576071A3 (fr) * 2018-06-01 2020-03-04 Mazda Motor Corporation Système d'alarme pour véhicule

Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3942601A (en) * 1974-04-18 1976-03-09 Sargent Industries, Inc. Refuse collection apparatus with personnel protection means
WO1999009429A1 (fr) * 1997-08-18 1999-02-25 Dynamic Vehicle Safety Systems, Ltd. Systeme anticollision utilisant un dispositif gps et un detecteur de proximite de train
JP2004269137A (ja) * 2003-03-07 2004-09-30 Fuji Heavy Ind Ltd 塵芥収集車の監視システム
US20070219720A1 (en) * 2006-03-16 2007-09-20 The Gray Insurance Company Navigation and control system for autonomous vehicles
US20090082949A1 (en) * 2007-09-26 2009-03-26 Robert William Petrie Method and system for automatically directing traffic on a site
US20130151083A1 (en) * 2011-12-09 2013-06-13 Hon Hai Precision Industry Co., Ltd. Waste collection vehicle and method for monitoring safety of vehicle
US20130261885A1 (en) * 2012-03-29 2013-10-03 Harnischfeger Technologies, Inc. Overhead view system for a shovel
WO2014016307A1 (fr) * 2012-07-25 2014-01-30 Autonomos Gmbh Agencement et procédé d'exploitation d'un système, programme informatique correspondant et support de stockage lisible par ordinateur correspondant
US20150043782A1 (en) * 2013-08-08 2015-02-12 Convoy Technologies Llc System, apparatus, and method of detecting and displaying obstacles and data associated with the obstacles
US20150355333A1 (en) * 2014-06-04 2015-12-10 Hitachi Construction Machinery Co., Ltd. Periphetal object detection system and haulage vehicle
US20160023599A1 (en) * 2014-07-28 2016-01-28 Hyundai Mobis Co., Ltd. Apparatus and method for warning loss of control of a vehicle using vehicle-to-vehicle communications
AU2016100580A4 (en) * 2015-11-11 2016-06-16 Superior Pak Holdings Pty Ltd Detection system for front of a vehicle
US20160223350A1 (en) * 2011-08-24 2016-08-04 Modular Mining Systems, Inc. Driver guidance for guided maneuvering
AU2016101465A4 (en) * 2016-08-15 2016-09-15 Bucher Municipal Pty Ltd Refuse collection vehicle and system therefor

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3942601A (en) * 1974-04-18 1976-03-09 Sargent Industries, Inc. Refuse collection apparatus with personnel protection means
WO1999009429A1 (fr) * 1997-08-18 1999-02-25 Dynamic Vehicle Safety Systems, Ltd. Systeme anticollision utilisant un dispositif gps et un detecteur de proximite de train
JP2004269137A (ja) * 2003-03-07 2004-09-30 Fuji Heavy Ind Ltd 塵芥収集車の監視システム
US20070219720A1 (en) * 2006-03-16 2007-09-20 The Gray Insurance Company Navigation and control system for autonomous vehicles
US20090082949A1 (en) * 2007-09-26 2009-03-26 Robert William Petrie Method and system for automatically directing traffic on a site
US20160223350A1 (en) * 2011-08-24 2016-08-04 Modular Mining Systems, Inc. Driver guidance for guided maneuvering
US20130151083A1 (en) * 2011-12-09 2013-06-13 Hon Hai Precision Industry Co., Ltd. Waste collection vehicle and method for monitoring safety of vehicle
US20130261885A1 (en) * 2012-03-29 2013-10-03 Harnischfeger Technologies, Inc. Overhead view system for a shovel
WO2014016307A1 (fr) * 2012-07-25 2014-01-30 Autonomos Gmbh Agencement et procédé d'exploitation d'un système, programme informatique correspondant et support de stockage lisible par ordinateur correspondant
US20150043782A1 (en) * 2013-08-08 2015-02-12 Convoy Technologies Llc System, apparatus, and method of detecting and displaying obstacles and data associated with the obstacles
US20150355333A1 (en) * 2014-06-04 2015-12-10 Hitachi Construction Machinery Co., Ltd. Periphetal object detection system and haulage vehicle
US20160023599A1 (en) * 2014-07-28 2016-01-28 Hyundai Mobis Co., Ltd. Apparatus and method for warning loss of control of a vehicle using vehicle-to-vehicle communications
AU2016100580A4 (en) * 2015-11-11 2016-06-16 Superior Pak Holdings Pty Ltd Detection system for front of a vehicle
AU2016101465A4 (en) * 2016-08-15 2016-09-15 Bucher Municipal Pty Ltd Refuse collection vehicle and system therefor

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3576071A3 (fr) * 2018-06-01 2020-03-04 Mazda Motor Corporation Système d'alarme pour véhicule
CN110803160A (zh) * 2019-11-14 2020-02-18 吉林大学 一种汽车后向防碰撞控制系统及控制方法

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