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WO2021064210A1 - Système de pesage de véhicule de collecte d'ordures - Google Patents

Système de pesage de véhicule de collecte d'ordures Download PDF

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Publication number
WO2021064210A1
WO2021064210A1 PCT/EP2020/077724 EP2020077724W WO2021064210A1 WO 2021064210 A1 WO2021064210 A1 WO 2021064210A1 EP 2020077724 W EP2020077724 W EP 2020077724W WO 2021064210 A1 WO2021064210 A1 WO 2021064210A1
Authority
WO
WIPO (PCT)
Prior art keywords
container
weighing
waste
weight
data points
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/EP2020/077724
Other languages
English (en)
Inventor
Mark Heffernan
Kenneth TIERNEY
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.)
Advanced Manufacturing Control Systems Ltd
Original Assignee
Advanced Manufacturing Control Systems 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
Application filed by Advanced Manufacturing Control Systems Ltd filed Critical Advanced Manufacturing Control Systems Ltd
Publication of WO2021064210A1 publication Critical patent/WO2021064210A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
    • G01G19/083—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles lift truck scale
    • 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
    • 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
    • B65F2003/022—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto the discharging means comprising a device for determining the weight of the content of refuse receptacles

Definitions

  • the present application relates to the field of load weighing systems.
  • the invention more particularly relates to the weighing of material in a container being lifted.
  • the invention more particularly relates to statically or dynamically determining the weight of material lifted using a refuse collection lifting system.
  • a unit fee structure can be either volume-based or weight based.
  • a volume-based waste price structure involves charging the household based on the waste container volume.
  • a weight-based price structure rewards the household for continuous improvement in their recycling diversion rate and reduction in total waste generated. This results in a more equitable waste cost structure.
  • the waste must be dynamically weighed as the waste container is lifted and emptied by the waste truck to avoid negatively impacting the rate of waste collection. It is also important to monitor the load carried by a waste truck to address weight restriction safety requirements and to protect against the resultant fines from trucks being overweight.
  • the collection vehicle stops adjacent to the waste container.
  • the loader engages the waste container.
  • the engagement means are supported on a weighing device such as a load cell.
  • the waste container is uniquely identified through an information exchange between the waste container and the loader.
  • the waste container is lifted by the loader.
  • the waste container is weighed a number of times at predetermined points of the lifting cycle known as the weighing window.
  • the lift mechanism continues to lift the waste container, and partially inverts it to empty the content into a receiving area of the waste collection vehicle. After dumping the empty container is returned to its original position. During the downward cycle the waste container is also weighed. The waste weight is calculated by subtracting the downward reading from the upward reading.
  • Problems also include the uneven placement of material in the waste/recycle container, the movement of containers during the lifting cycle and the rough action of the hydraulic system with acceleration and deceleration forces that make dynamic weighing very difficult.
  • the window of opportunity for weighing during the lift cycle can be less than 1 second. In this case, if the mechanical oscillations have a period approaching 1 second, then it is impossible to capture multiple periods in order to enable averaging. Solutions that require slowing down or stopping the lift cycle to allow static weighing have disadvantages because of the reduction in productivity.
  • a first embodiment of the application provides a method as detailed in claim 1 and a vehicle as provided in claim 10.
  • Advantageous embodiments are provided in the dependent claims.
  • Figure 1 is a diagram of a waste collection vehicle equipped with a weight measurement system for accurately determining the weight of waste or recyclable material in the waste collection vehicle, according to an embodiment of the present teaching
  • Figure 2 is a block diagram of a part of a hydraulic system included in the weight measurement system, according to an embodiment of the present teaching
  • Figure 3 is a graph illustrating a typical load cell output from a load weighing system and a weight measurement system according to the present teaching.
  • the present teaching has application to any environment where accurate weighing of material in a container is required. Examples of such applications include the lifting of material such as mining ore or the like using hydraulic arms and the transport of that lifted ore to a secondary location. In such environments it is useful to accurately weigh the material that was initially disposed in the container prior to its transfer to the secondary location. In such an exemplary application where the container- typically the bucket of an articulated arm- is well known, one measurement value of the weight will be sufficient in that the bucket is a constant value.
  • FIG. 1 is a diagram of a waste collection vehicle 1 equipped with a weight measurement system for accurately determining the weight of waste or recyclable material in the waste collection vehicle 1 , according to an embodiment of the present teaching.
  • the weight measurement system includes a hydraulic system 3 including a mechanical lift arm 10 for lifting and emptying a waste container 5, and a transducer-based weighing system for weighing the waste in the waste container s.
  • the weight measurement system according to the present teaching is applied to any type of conventional waste collection vehicle used for lifting material and may be used with a side, rear or front loading apparatus. However, for purposes of illustration, the weight measurement system according to the present teaching is described with reference to a rear loading apparatus, and specifically a waste collection vehicle incorporating such a rear loading apparatus.
  • the hydraulic system 3 may be arranged at the rear of the vehicle 1 and has major components comprising the mechanical lift arm 10 hingedly arranged with the vehicle at a pivot pin 21 and pivotable by operation of a lift cylinder 20 which will be described later.
  • the waste collection vehicle 1 hydraulically pivots the mechanical lift arm 10 by pulling or pushing the lift arm 10.
  • the lift arm 10 is engageable with the waste container 5 by means of a loader assembly coupled to the lift arm 10.
  • the loader assembly comprises a pivotable engageable arm 6 which is pivoted on the mechanical lift arm 10 at a pivot pin 7.
  • Figure 1 shows only the left side of the vehicle 1 and the right side is not shown since it would be substantially the same because the hydraulic system 3 is generally symmetric.
  • the operation of the loader assembly is controlled by the hydraulic system 3 which includes appropriate manual controls in the vehicle cab such as an open/close gripping mechanism control unit having a control stick, extend/retract boom control unit having a control stick, and an on/off motor control unit having a control lever.
  • These controls and associated hydraulic circuits are standard and are understood by those of ordinary skill in the art.
  • the weighing system can be any non-hydraulic weighing system that provides an indication of the weight of the waste or any hydraulic system providing an output in the form of an electrical signal representative of the load on the mechanical lifting device.
  • the weighing system comprises at least one weight transducer 8 which is mounted on the engageable arm 6 for sensing the weight of the waste container 5 and for producing an electrical signal indicative of the weight.
  • the weight transducer 8 may be a load cell such as a strain gauge load cell, a piezo-electric load cell or a compression load cell. However, the weight transducer 8 is not limited thereto.
  • the output from the load cell is supplied by means of either a hard-wired conductor or transmitter to an appropriate decoder and on-board computer which processes this information. In an alternative arrangement, the output may be simply stored on the vehicle or in a cloud server for subsequent processing.
  • the output from the load cell provides an electrical signal indicative of the weight of the waste container 5.
  • a single reading may be taken at any time during the upward movement of the waste container 5 prior to the dumping operation.
  • the weight of the empty waste container 5 or tare weight can be sensed at the load cell output at any time during the downward movement of the empty container 5 prior to placing the container 5 on the ground. It is more efficient to establish the weight readings during the upward and downward movement of the container 5 rather than stopping the container s during the cycle and negatively impacting the rate of waste collection.
  • An average weight reading may be obtained, which may be computed from a continuous reading or series of readings taken during a portion of the lifting and lowering cycle.
  • the continuous output of the load cells can be monitored during a selected portion of the container movement in a weighing zone and this continuous reading averaged and processed by the on board computer or other appropriate processing means. The weighing is performed along a predetermined travel distance of the mechanical lift arm 10.
  • a switch such as a limit switch may be operatively connected to the transducer so that the transducer is energized at a point when a full waste container 5 is supported by the mechanical lift arm 10 and when an empty waste container 5 is supported by the mechanical lift arm 10 for the purpose of determining the weight of the refuse in the waste container 5. This will be described in detail below.
  • the transducer is connected to the switching circuit but the output from the circuit is read during periods determined by the switching. In this way there is no settling of the transducer circuit required prior to taking a measurement. It will be understood that this switching is a result of the physical location of the limit switch and if modification is required this will need a physical movement of the switch.
  • the switch may be a rotary resistor which can be remotely managed through an external communication protocol. In such an arrangement the window of reading data may be changed by dynamically moving the operating region or set point of the rotary resistor.
  • a rotary resistor is of course exemplary of the type of switching mechanism that may be employed where a remote changing of the measurement window is required.
  • the weighing process is performed as follows.
  • the loader assembly engages the waste container 5.
  • the waste container 5 is lifted by the mechanical lift arm 10.
  • the hydraulic system 3 used to actuate the mechanical lift arm 10 is itself a mechanical component part of the complete weight measurement system (when the hydraulic system 3 is pressurised), and the entire weight measurement system including the lifting mechanism is mechanically coupled into the hydraulic system 3.
  • the waste container 5 is weighed a number of times in the weighing zone.
  • the weighing zone may correspond to a time of less than 1 second.
  • the mechanical lift arm 10 continues to lift the waste container 5, and partially inverts it to empty the content into a receptacle 30 of the waste collection vehicle 1 . After dumping the empty container 5 is returned to its original position. During the downward cycle the waste container 5 is also weighed. The waste weight is calculated by subtracting the downward reading from the upward reading.
  • a rotary resistor may be operatively connected to the load cell transducer so that the output from the transducer may be read at a point or within a window of points when a full container s is supported by the mechanical lift arm 10 and when an empty container 5 is supported by the mechanical lift arm 10 for the purpose of determining the weight of the refuse in the container.
  • the rotary resistor may be disposed on the mechanical lift arm 10 and may be directly wired to the load cell transducer or microprocessor.
  • the operator activates the controls to cause the mechanical lift arm 10 to move the container 5 downwardly until the rotary resistor is activated again to begin the weighing of the empty container until the rotary resistor is deactivated to stop the weighing of the empty container.
  • the waste weight is calculated by subtracting the downward reading from the upward reading. In a configuration whereby the weight of the container is known, then it may not be necessary to weigh on both the up and down cycles of the lift as there is no need to factor in and weigh the empty container- it being a fixed value that can be pre-stored.
  • the means of activating the weighing system is not limited to the above description, and any means of activating the weighing system can be used.
  • a switching mechanism for triggering a means for identifying a weighing window there is provided a system arrangement in which a switching mechanism is not used as a triggering means for identifying a weighing window.
  • the output from the load cell is continuously monitored and sampled throughout the course of the lift cycle.
  • the load cell output provides an electrical signal indicative of the weight of the waste container 5.
  • the electrical signal comprises a plurality of sequential data points, each data point having an associated value indicative of the weight being measured.
  • a single reading may be taken at any time during the upward movement of the waste container 5 prior to the dumping operation.
  • the weight of the empty waste container 5 or tare weight can be sensed at the load cell output at any time during the downward movement of the empty container 5 prior to placing the container 5 on the ground. It is more efficient to establish the weight readings during the upward and downward movement of the container 5 rather than stopping the container 5 during the cycle and negatively impacting the rate of waste collection.
  • An average weight reading may be obtained, which may be computed from a continuous reading or series of readings taken during a portion of the lifting and lowering cycle.
  • the continuous output of the load cells can be monitored during a selected portion of the container movement in a weighing zone and this continuous reading averaged and processed by the on board computer or other appropriate processing means. The weighing is performed along a predetermined travel distance of the mechanical lift arm 10.
  • transducer-based weighing system for weighing the container during the operation of the mechanical arm before and after a deposit of waste out of the container, the transducer-based weighing system configured to provide an electrical output signal.
  • the transducer output is read during periods determined by an analysis of the electrical output signal.
  • the analysis of the electrical output signal comprises buffering the plurality of sequential data points to determine at least one weighing window before and after the deposit of waste material out of the container into the refuse vehicle, wherein the weighing windows are each determined relative to a respective trigger point, processing sequential data points within each of the at least one weighing windows to determine, within each of the respective at least one weighing windows, the weight of the container; and comparing the determined weight of the container within each of the at least one weighing windows before and after the deposit of waste to define the weight of material deposited into the refuse container. It will be understood that the determination of the location of the weighing windows may be effected in any one of a number of different ways.
  • each weighing window is spaced at a predetermined number of data points relative to a trigger point.
  • the output is continuously monitored and the values of the output signal are used to define trigger points within the weighing cycle.
  • the events including a coupling of an engagement arm with the container and a subsequent decoupling of the engagement arm with the container. In the course of the engagement arm being coupled with the container both a tipping and un tipping event occur.
  • the tipping event is the emptying of the contents of the container out of the container into the refuse vehicle.
  • the tipping of the container is an action being performed by the mechanical lift arm as it lifts the container from a vertical position to a horizontal position so as to empty or deposit the waste material into the refuse vehicle- effectively, the container pivots, rotates or otherwise moves relative to a normal axis so as to effect an emptying of its contents. Having effected the tipping, or emptying, action, the container then returns through the same motion to the normal axis- in an un-tipping event. In this way the un-tipping of the container is an action being performed by the mechanical lift arm as it lifts the container from the horizontal position back to the vertical position after deposit of, or having emptied, the waste material into the refuse vehicle.
  • tipping of the container into a refuse vehicle and an un-tipping of the container after deposit of the waste into the refuse vehicle are defined events in time.
  • at least one weighing window is before the tipping of the container into a refuse vehicle and at least one other weighing window is subsequent to the un-tipping of the container.
  • the trigger for the weighing window is determined only by the analysis of the electrical output signal from the transducer.
  • the output of the transducer is monitored over the course of the entire lift cycle and the electrical output signal is buffered.
  • the buffered signal is used to identify at least one window within the buffered signal.
  • the at least one window being a weighing window in which the weight of the waste container during that point in time is measured or determined.
  • the rate of change of the buffered signal is monitored to identify at least one trigger point before and after the deposit of waste from the waste container.
  • the trigger points are then used to define a number of sample counts, wherein these number of samples counts comprise the weighing window.
  • the above-mentioned embodiment in which the analysis of the electrical signal triggers the window(s) and/or weighing window(s) address restrictions, limitation or restrictions and limitations with an arrangement that requires external inputs such as a switch to trigger the weighing window.
  • Said embodiment removes the need to identify a physical location of, for example, a limit switch or rotary switch and avoids situations in which, if modification of the system is required, requires a physical movement of the switch of the system.
  • the embodiment removes the need for remotely managing a switching mechanism through an external communication protocol.
  • Such arrangement may be affected by a loss of communication due to some external factors such as for example interferences that may potentially block transmission/reception of the triggering and therefore the window of opportunity for measuring/weighing a container could be missed and therefore the weight of the container is not recorded due to lack of input from the external triggering mechanism.
  • the window of reading data may be changed based on the buffered output signal alone and does not require dynamically moving the operating region or set point of the rotary resistor.
  • the window of opportunity for weighing during the lift cycle can be less than 1 second and therefore there is a limited time window for activation of the switch for measurement via the weighing window and therefore a high margin for error may exist in such systems in that the activation of the transducer in a switch mechanism arrangement may potentially result in an activation for measurement which is outside of the window of opportunity or begins and ends too early with regard to the window of opportunity for weighing.
  • FIG. 2 is a block diagram of a part of the hydraulic system 3, according to an embodiment of the present invention.
  • the hydraulic system 3 includes the lift cylinder 20 which is mechanically coupled to the lift arm 10 for moving the lift arm 10, a hydraulic switch 34 for operating the lift cylinder 20, a hydraulic lift line 31 for conveying hydraulic fluid under pressure to operate the lift cylinder 20 and which is connected between the lift cylinder 20 and the hydraulic switch 34, a hydraulic lowering line 32 for releasing hydraulic fluid from the lift cylinder to lower the lift arm 10 and which is connected between the lift cylinder 20 and the hydraulic switch 34, a pump 36 and a reservoir 37.
  • the hydraulic system 3 may optionally comprise a relief valve 35.
  • Figure 3 is a graph illustrating a typical load cell output from a load weighing system and a weight measurement system according to an embodiment of the present invention.
  • the X-axis shows a number of sample counts during the course of the lift cycle while the Y axis shows analog to digital converter code values representing a continuous output of the load cell during the engagement of a waste container by the load arm of a waste collection vehicle, during the upward lift of the waste container, during a downward lift of the waste container and upon disengagement of the waste container from the load arm of the waste collection vehicle.
  • the load cell signal information is converted for example, from millivolts into a digital representation using an analog to digital converter and sampled over the course of the lift cycle.
  • the loadcell signal Prior to the refuse container engaging with the system, the loadcell signal will show no activity and therefore will appear to show a flatline response indicating that no waste container is present on the system.
  • the response curve will fluctuate showing activity and mechanical noise as the waste container settles on the lift chair.
  • the initial load cell output fluctuations represent the engagement of the waste container with the mechanical lift arm.
  • At least one weighing zone in the lift cycle is labelled as region 310 which represents the start of the upward lift of the waste container.
  • This region of interest 310 represents the window of opportunity to capture the weight of the waste container on the upward lift and defines as a weighing window.
  • the loadcell output experiences a large rate of change in its response as shown in the response curve showing a large rate of change or shift in the signal 320.
  • analysis of the load cell output identifies, within a period of time in the sample count, a larger rate of change in the signal response defining a first trigger point 330. It will be appreciated that within this period of time the values of sequential data points decrease rapidly such that by evaluating the relative values of a plurality of sequential data points it is possible to identify when the rate of change decreases at a rate that is above a defined threshold value.
  • This first trigger point is then utilized to determine the weighing window during the upward lift, this weighing window being at a period of time having data points that were output from the transducer before the data points that are used to identify this first trigger point.
  • a number of sample counts prior to the first trigger point are taken to determine a sample count starting point 310a and a sample count end point 310b.
  • the sample count starting point and the sample count end point correlates to the weighing window 310 in the upward lift.
  • the sample count starting point provides a load cell output value and the sample count end point provides another load cell output value, wherein the load cell output for the sample count starting point is different to the loadcell output for sample count end point as can be seen in Figure 3.
  • the loadcell output value at the sample count end point 310b is larger than the loadcell output value at the sample count starting point 310a.
  • the loadcell output experiences a large rate of change in its response as shown in the response curve showing a large rate of change or shift in the signal 340.
  • analysis of the load cell output identifies within this period of time the values of sequential data points increasing rapidly such that by evaluating the relative values of a plurality of sequential data points it is possible to identify when the rate of change increases at a rate that is above a defined threshold value.
  • This second trigger point is then utilized to determine the weighing window during the downward lift, this weighing window being at a period of time having data points that were output from the transducer after the data points that are used to identify this second trigger point 350.
  • This second trigger point is utilized to determine the weighing window during the downward lift.
  • a number of sample counts after/following this second trigger point are taken to determine a sample count starting point 360a and a sample count end point 360b.
  • the sample count starting point and the sample count end point correlates to the weighing window 360 in the downward lift.
  • the sample count starting point provides a load cell output value and the sample count end point provides another load cell output value, wherein the load cell output for the sample count starting point is different to the loadcell output for sample count end point as can be seen in Figure 3, specifically within the window defined by 360.
  • the loadcell output value at the sample count end point 360b is smaller than the loadcell output value at the sample count starting point 360a.
  • the first and second trigger points are important as they are used as reference points to determine where the weighing operation should be performed.
  • the system needs to detect the waste container dump, and then look backwards in the lift cycle measurement to find the correct sample to calculate the weight.
  • the waste container is returning to the ground, a further need is required in order to detect the transition from the waste container in the dump position to the waste container travelling in a downwards motion towards the ground as identified by the second trigger point, and then using this information to look forward or wait, until the correct sample location in the trace is identified in order to calculate the down weight of the waste container.
  • the line 380 represents actual analog to digital code, ADC, values that are output from the processing elements of the system of the present teaching.
  • the code values are generated by converting the analog output signal from the loadcell to digital code values using an analog to digital converter in the weighing system. Significant oscillations in the load cell output are observed. Note that within this illustrated example, a full oscillatory period has not been completed within the weighing zone. As discussed above, averaging of a partial oscillatory period will result in measurement error.
  • the line 390 represents a software generated moving average output of the analog to digital converter code values from the weight measurement system according to the present teaching.
  • the data used to calculate the weight of the contents is output during a weighing window corresponding to a period in the lift cycle after the container is engaged and has begun to be lifted, and if a second set of measurements corresponding to an empty container are required at another period when the empty container is being lowered back to its original position after the contents of the container have been transferred to a secondary location.
  • the weighing window is selected after the load cell output fluctuations have settled and comprises a period of time or sample counts and as such may comprise a plurality of individual measurements which can be processed for statistical purposes.
  • buffering the electrical output signal of the transducer and processing the buffered output signal alone can be employed to trigger the weighing window.
  • Processing the buffered output signal alone has the advantage of being capable of being automatically adapted for each measurement of the weight of material in a container being lifted as the weighing windows(s) are determined by the electrical output signal during periods of movement of the mechanical lift arm for a current measurement without having to be remotely managed through an external communication protocol, third party activation via a mechanical switch and without having to be physically moved.
  • the window of reading data may be changed by based on the analysed buffered output signal alone.
  • the outputs from the transducer during the weighing window are processed by a processor to determine the weight. More specifically, within each of the at least one weighing windows identified, determining, by a processor, the weight of material in the container, the weight of the material in the container being based on the electrical output signal from the weight transducer.
  • the actual ADC code value load cell output overestimates the load, while the software generated moving average output according to the present teaching provides a more accurate representation of the final settled load cell output.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Refuse-Collection Vehicles (AREA)

Abstract

L'invention concerne un procédé de mesure d'un poids d'une matière dans un conteneur en cours de levage. Le procédé consiste à fournir un véhicule à ordures possédant un bras de levage mécanique permettant de soulever un conteneur contenant des déchets de façon à déposer les déchets depuis le conteneur dans le véhicule à ordures ; à fournir un système de pesage par transducteur servant à peser le conteneur pendant le fonctionnement du bras de levage mécanique avant et après un dépôt de déchets depuis le conteneur dans le véhicule à ordures, le système de pesage par transducteur étant configuré pour fournir un signal de sortie électrique comprenant une pluralité de points de données séquentiels ; à mettre en mémoire tampon la pluralité de points de données séquentiels afin de déterminer au moins une fenêtre de pesage avant et après le dépôt de déchets depuis le conteneur dans le véhicule à ordures, les fenêtres de pesage étant déterminées par rapport à un point de déclenchement respectif ; à traiter des points de données séquentiels au sein de chacune desdites fenêtres de pesage afin de déterminer, au sein de chacune des fenêtres de pesage respectives, le poids du conteneur ; et à comparer le poids déterminé du conteneur au sein de chacune desdites fenêtres de pesage avant et après le dépôt de déchets pour définir le poids de la matière déposée dans le conteneur à ordures.
PCT/EP2020/077724 2019-10-02 2020-10-02 Système de pesage de véhicule de collecte d'ordures Ceased WO2021064210A1 (fr)

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GB1914239.7A GB2587641B (en) 2019-10-02 2019-10-02 Refuse collection vehicle weighing system
GB1914239.7 2019-10-02

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Cited By (1)

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CN113942768A (zh) * 2021-09-15 2022-01-18 长沙中联重科环境产业有限公司 伸缩臂抱桶上料机构控制方法、装置、设备及环卫车

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US5245137A (en) * 1990-12-21 1993-09-14 Mobile Computing Corporation Load measuring system for refuse trucks
GB2354830A (en) * 1999-09-08 2001-04-04 Taylor Egbert H & Company Ltd Identification and weighing of refuse containers
US20120285750A1 (en) * 2011-05-12 2012-11-15 Advanced Manufacturing Control Systems Ltd. Weight measurement system for accurately determining the weight of material in a container being lifted

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EP0255624B1 (fr) * 1986-07-21 1991-10-02 Zöller-Kipper GmbH Dispositif pour vider des récipients
US5119894A (en) * 1991-02-19 1992-06-09 Toter, Inc. Weighing apparatus for weighing the contents of a refuse container and method

Patent Citations (3)

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Publication number Priority date Publication date Assignee Title
US5245137A (en) * 1990-12-21 1993-09-14 Mobile Computing Corporation Load measuring system for refuse trucks
GB2354830A (en) * 1999-09-08 2001-04-04 Taylor Egbert H & Company Ltd Identification and weighing of refuse containers
US20120285750A1 (en) * 2011-05-12 2012-11-15 Advanced Manufacturing Control Systems Ltd. Weight measurement system for accurately determining the weight of material in a container being lifted

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113942768A (zh) * 2021-09-15 2022-01-18 长沙中联重科环境产业有限公司 伸缩臂抱桶上料机构控制方法、装置、设备及环卫车

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GB2587641A (en) 2021-04-07
GB201914239D0 (en) 2019-11-13
GB2587641B (en) 2021-09-22

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