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WO2022189255A1 - Système de gestion automatisée de déchets - Google Patents

Système de gestion automatisée de déchets Download PDF

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Publication number
WO2022189255A1
WO2022189255A1 PCT/EP2022/055404 EP2022055404W WO2022189255A1 WO 2022189255 A1 WO2022189255 A1 WO 2022189255A1 EP 2022055404 W EP2022055404 W EP 2022055404W WO 2022189255 A1 WO2022189255 A1 WO 2022189255A1
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WO
WIPO (PCT)
Prior art keywords
waste
cavity
radar sensor
void
sensor unit
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/EP2022/055404
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English (en)
Inventor
Ole Martin NISSEN
Hans Christian Pedersen
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.)
Maacks Aps
Original Assignee
Maacks Aps
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 Maacks Aps filed Critical Maacks Aps
Publication of WO2022189255A1 publication Critical patent/WO2022189255A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/30—Administration of product recycling or disposal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
    • G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
    • G01F23/284—Electromagnetic waves
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F2210/00—Equipment of refuse receptacles
    • B65F2210/128—Data transmitting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F2210/00—Equipment of refuse receptacles
    • B65F2210/144—Level detecting means
    • B65F2210/1443—Electrical

Definitions

  • the present invention relates to systems for automated waste management.
  • Waste bins generally comprises many different types of containers, such as litter bins, and bins for collection of recyclable materials, such as plastic, fabric, or glass. They are traditionally fixed in location and emptied on a regular basis, which depends on the extent of use of the bins in an overall sense. Typically, this is weekly or daily. However, each bin in an area will be used in differing frequencies, depending e.g., on the location of the bin within the collection area, and special events. Aside from one-off collections during or after a special event at a specific location, the timing of collection from the bins, generally, does not vary. As a result, the frequency of collection is usually sub-optimal, and the frequency does not account for the waste level in each individual bin. This can result in bins that are not full being emptied unnecessarily and other bins overfilling.
  • US20200191580 discloses systems and methods for managing the collection of contents from geographically distributed containers.
  • the systems can have a sensor in the container in data communication with a server system.
  • the sensor can send data regarding the volume of contents in the container to the server system.
  • the server system can then create routing information for a fleet of vehicles to empty the containers based on which containers are full enough for immediate collection, other predictive data for less full containers, and traffic and other routing factors for the vehicles.
  • the server system can then transmit the routing information to the vehicles, track the vehicles, and prepare reports.
  • the sensing energy emitted by the sensor can be an RF signal, such as a laser beam, radar, microwave, visible light, and/or ionizing radiation, such as X-rays, gamma rays, alpha particles, beta particles, or combinations thereof.
  • RF signal such as a laser beam, radar, microwave, visible light, and/or ionizing radiation, such as X-rays, gamma rays, alpha particles, beta particles, or combinations thereof.
  • Different sensors in the same container can emit the same or different types of sensing energy.
  • the inventor of the present invention has developed a system, a data capture platform, securing traceability of waste bins incidents and/or variations.
  • One aspect relates to the use of a radar sensor unit for identifying voids in the cavity of a waste bin or the like.
  • the use includes searching for voids between waste articles present in said cavity.
  • waste bin refers to any kind of container suitable for holding waste, including recyclable waste, such as plastic fractions, glass fractions, textile fractions, paper fractions, rubber fractions, and the like.
  • the waste bin is of a type adapted for receiving a bag adapted for holding said waste and to be removed together with said waste.
  • a second aspect relates to a system configured for automated waste management, comprising:
  • a plurality of waste or recycling bins each with a top part with an opening, a cavity, and a bottom part and comprising: i) a radar sensor unit; and ii) a wireless communication unit operably connected to said radar sensor unit and configured to transmit radar sensor data from said radar sensor unit; and
  • a management component being part of a cloud platform and communicatively coupled to said wireless communication units, said management component comprising: i) a processor; ii) a memory in electronic communication with said processor; and iii) instructions stored in said memory, said instructions being executable by the processor to: a) receive and store data related to an event detected via said radar sensor unit(s); b) process said data related to said detected event; and c) generate a notification for a user of said cloud platform based on the processing of said data; wherein said step b) comprises searching for voids in the cavity of said waste bins based on a threshold value of available void(s) within the cavity of said waste bins and/or a void profile of the cavity of said waste bins, and wherein said step c) comprises generating a notification about the need for emptying said waste bins and/or compressing the waste within the cavity of said waste bins.
  • the term “radar sensor unit” generally comprises at least a component for emitting radio waves and a component for detection of radar waves.
  • the emitter and detector components can in this case preferably be arranged in an assembly, and thus for example be combined in a housing.
  • the term “radar sensor unit” is not limited to a pure detector element that by nature requires a signal output, or a communication interface.
  • a radar sensor unit in the sense of this disclosure also includes an active module for emitting the radar signal, and preferably also includes an electronic control system.
  • the radar sensor unit comprises a millimeter-wave radar sensor. This type of sensing technology is particularly suitable for detection of objects and providing the range, velocity, and angle of these objects. It is a contactless technology, which operates in the spectrum between about 20 to 300 GHz. The use of such wavelengths (short wavelength in the electromagnetic spectrum) can provide sub-millimeter range accuracy and is able to penetrate certain materials, such as plastic, paper, and textile, and is little affected by environmental conditions, such as rain, fog, dust and snow.
  • the transmitting signal can take form of different types of waveforms, including Pulsed, Pulsed coherent radar (PCR), Frequency-Shift Keying (FSK), Continuous Wave (CW), and Frequency Modulated Continuous Waveform (FMCW).
  • PCR Pulsed, Pulsed coherent radar
  • FSK Frequency-Shift Keying
  • CW Continuous Wave
  • FMCW Frequency Modulated Continuous Waveform
  • a complete millimeter-wave radar system includes transmit (TX) and receive (RX) radio frequency (RF) components as well as analog components, such as clocking, and digital components, such as analog to digital converter (ADC), micro controller unit (MCU), and Digital Signal Processor (DSP).
  • Suitable radar chips are commercially available, and may be purchased from e.g., Silicon Radar (TRA and TRX series), Texas Instruments (AWR and IWR series), Infenion (XENSIV series), and Acconeer (A1 series).
  • the radar sensor unit comprises a millimeter-wave antenna, and a millimeter-wave radar sensor.
  • the radar sensor unit is configured to couple logged data with an identification code for said waste bin.
  • the system may comprise a plurality of radar sensor units arranged in different positions within the cavity.
  • one radar sensor unit is generally positioned in the upper part of the cavity and directed downwards.
  • one radar sensor unit is generally positioned in the bottom part of the cavity and directed upwards.
  • one radar sensor unit is generally positioned in the middle part, i.e., at a side, of the cavity and directed either towards the other side, upwards, or downwards.
  • wireless communications unit/component may denote any electronic device, which can control, perform, and/or participate in a contactless communication, wherein data are transferred in a wireless manner.
  • the wireless communications component may be a component within a housing.
  • the wireless communications component may be a bare die or a chip.
  • the wireless communications component may comprise appropriate electric circuits, such as a transmitting circuit and/or a receiving circuit.
  • the wireless communications unit is positioned in the same housing as the radar sensor unit.
  • the term “cloud platform” refers to a component providing an infrastructure for applications, data storage, computing (e.g., data analysis), backup, etc.
  • the cloud platform is typically accessible over a network and is typically remote from a component interacting with the cloud platform over the network.
  • the cloud platform may encompass a computer, server, or backend device coupled to a network, and should not be viewed as requiring any particular geographical relationship relative to the bins for which it is responsible.
  • management component may be software, firmware, middleware, microcode, hardware, and/or any combination thereof.
  • the management component or the manager may be any one or a combination of a module, a process, and a thread that are run on a general-purpose server or may be a general-purpose server.
  • the management component or the manager may be located on one general-purpose server or may be distributed on at least two general-purpose servers.
  • the management component or the manager may be obtained from a computer readable medium that stores various data structures and then is executed or may be implemented by using various logical combinations of a hardware circuit.
  • the instructions being executable by the processor to to further: d) generate a forecast for a user of said cloud platform based on the processing of said data, said forecast comprising a timetable for emptying said waste bins.
  • the radar sensor unit can analyze the entire content of the bin.
  • the radar sensor unit is preferably arranged either in the upper part of said cavity and directed towards said bottom, or alternatively arranged in the bottom part of said cavity and directed towards said top part.
  • one radar sensor unit is arranged in the bottom part of the cavity, while another radar sensor unit is arranged in the upper part of said cavity. This configuration may provide better results when parts of the waste is of a relatively high-density material, thereby blocking, absorbing, or scattering the emitted wave.
  • the step b) comprises searching for voids between waste articles present in said cavity.
  • step b) comprises generating a baseline void pattern for each type of waste bins communicatively coupled to said management component, said baseline void pattern being generated when the cavity of said type(s) is empty.
  • the generated baseline void pattern is used in the process of automatically generating a threshold value of available void(s) within the cavity of said waste bins. Due to the vast variety of sizes and forms of bins often used in the same area, a threshold value of available void(s) is preferably generated for each type of waste bin.
  • the generated baseline void pattern may also be used in the process of automatically generating a void profile of the cavity of said waste bins, and wherein said void profile of the cavity of said waste bins is generated for each type of waste bin.
  • searching for voids comprises identifying peaks in the void profile. As two peaks positioned apart from each other are identified, then a void is identified there between.
  • the void between two peaks may be a void with air, making it possible to press the waste on top further down, or the void may be an area with low-density material, which it may be possible to compress to a material of relatively higher density.
  • a peak When a peak is positioned below a predefined threshold depth, a void is identified above the peak.
  • the predefined threshold depth is defining when the bin is full. If a peak is above the predefined threshold depth the bin in full, if there is no additional peaks indicating a void in the bin. Between the highest placed peak and the predefined threshold depth is a void, if the highest placed peak is below the predefined threshold depth.
  • Figures 1-7 show different events measured by the system according to the present invention.
  • Figure 8 shows an example of a management component.
  • Figures 1-7 show a waste or recycling bin 100 comprising a top part 110 with an opening 120, a cavity 130, and a bottom part 140.
  • a waste bag 200 is mounted within the cavity 130.
  • a radar sensor unit 300 with an integrated wireless communication unit 310 is arranged in the upper part of said cavity 130 and directed towards said bottom part 140.
  • the waste bag is shown empty, and hence only a single void 12 is present that is about equal to the cavity 130.
  • the management component (400, Figure 8) is configured to output a graphical representation of the cavity 130, as seen to the right of the bin 100.
  • a single peak, P1 is shown at a depth of about 80 cm, which represents the bottom of the pin.
  • the volume above, V1 is thus identified by the management component as a single void 12, representing an empty bag 200.
  • this graphical representation can be seen as the baseline void pattern being generated when the cavity of said type(s) is empty and could also be used for generating a threshold value of available void(s) within the cavity of said waste bins.
  • a threshold value could e.g., be defined as a percentage of an area between peaks, or a peak area under the curve of identified peaks above P1.
  • Figure 2 depicts a situation where the waste bag is substantially full and filled with a relatively high-density material 14.
  • Such a void profile may e.g., be identified by the management component as representing a half full bag 200 and thus, not ready for being emptied.
  • Figure 4 depicts a special and very complicated example for known systems. If a sensor is solely measuring the surface level of the trash, this example would result in a notification about a full bin. However, the problem here is that the bag 200 has not unfolded when it was mounted in the cavity 130. This situation occurs quite often as service workers forget to unfold the bag.
  • the system of the present invention solves this problem as it can identify, but also “see” through relatively low-density materials, such as an unfolded plastic bag.
  • a first peak, P1 is shown at a depth of about 80 cm, which represents the bottom of the bin 100.
  • a second peak, P2 is also shown at a depth of about 10 cm, corresponding to a curled part of the bag 200.
  • a void profile is therefore identified by the management component as representing an unfolded bag 200.
  • Figures 5-7 show a situation where a pizza tray 16 got stuck in the upper part 110 of the bin 100. The Peak representing the bottom is absent, indicating that “high-density” waste is present in the cavity.
  • peaks P2, and P3, are identified, respectively, at a depth of about 50 cm and about 15 cm.
  • a single peak at a depth of about 15 cm would normally indicate an almost full bin. However, this is not the case when an extra peak is present deeper within the cavity.
  • Such a void profile may therefore e.g., be identified by the management component as representing a half full bin where an article blocks the bin from being filled further.
  • a service personnel may therefore be notified by the management component to solve the problem, e.g., by pressing the identified pizza tray deeper into the bin.
  • Some waste containers may be provided with compression means that could be configured to automatically be activated by the management component, e.g., via a wireless network.
  • Figure 6 shows a situation where a relatively low-density material 18 is present in the bottom part 140 of the bin 100.
  • a first peak, P1 is shown at a depth of about 80 cm, which represents the bottom of the bin 100.
  • a second peak, P2 is also shown at a depth of about 40 cm, corresponding to a relatively low-density material 18, which may be compressed to a material of relatively higher density.
  • a void, V2 is identified there between.
  • a further void, V3 is identified above P2, as this peak is present relatively deep within the bin cavity.
  • Such a void profile is therefore identified by the management component as representing a situation where there is still plenty of space left for waste material.
  • a notification is probably not sent to a service worker to compress the material.
  • the low-density material 18 may be compressed when subjected to the weight of further waste material.
  • FIG. 8 depicts a situation with two pizza trays 16, and where a part of the waste material is a low-density material 18.
  • a part of the waste material is a low-density material 18.
  • Several voids, V1-V3, and peaks, P1-P3, are identified.
  • Such a void profile is therefore identified by the management component as representing a situation where there is still plenty of space left for waste material.
  • a notification is probably sent to a service worker to compress the material.
  • the shown examples are very suitable for training a manage component using machine learning for processing data from the radar sensor unit 300.
  • the data sent from the radar sensor unit 300 may be logged data.
  • the data processed by the management component may be logged.
  • the log may include the identified or calculated void profile, a time stamp, and a geographic position.
  • sensors such as temperature sensors, and gas sensors, may be included in the system, and used to further determine when a bin needs to be emptied, or to generate specific void profiles.
  • the management component may comprise a data collection and processing component.
  • data collection and processing component as used herein means a system implemented at least in part by hardware and comprising an input device, an output device, and a processor connected to the input device to receive data from it and connected to the output device to provide data processed for it.
  • the data collection and processing component may be configured to acquire data from different types of sensors, including the radar sensor unit.
  • the data collection and processing component may comprise a computing system including a processor, a memory, a communication unit, an output device, an input device, and a data store, which may be communicatively coupled by a communication bus.
  • the mentioned computing system should be understood as an example and that it may take other forms and include additional or fewer components without departing from the scope of the present disclosure.
  • various components of the computing device may be coupled for communication using a variety of communication protocols and/or technologies including, for instance, communication buses, software communication mechanisms, computer networks, etc.
  • the computing system may include various operating systems, sensors, additional processors, and other physical configurations.
  • the processor, memory, communication unit, etc. are representative of one or more of these components.
  • the processor may execute software instructions by performing various input, logical, and/or mathematical operations.
  • the processor may have various computing architectures to method data signals (e.g., CISC, RISC, etc.).
  • the processor may be physical and/or virtual and may include a single core or plurality of processing units and/or cores.
  • the processor may be coupled to the memory via the bus to access data and instructions therefrom and store data therein.
  • the bus may couple the processor to the other components of the computing system including, for example, the memory, the communication unit, the input device, the output device, and the data store.
  • the memory may store and provide data access to the other components of the computing system.
  • the memory may be included in a single computing device or a plurality of computing devices.
  • the memory may store instructions and/or data that may be executed by the processor.
  • the memory may store instructions and data, including, for example, an operating system, hardware drivers, other software applications, databases, etc., which may implement the techniques described herein.
  • the memory may be coupled to the bus for communication with the processor and the other components of computing system.
  • the memory may include a non- transitory computer-usable (e.g., readable, writeable, etc.) medium, which can be any non-transitory apparatus or device that can contain, store, communicate, propagate, or transport instructions, data, computer programs, software, code, routines, etc., for processing by or in connection with the processor.
  • the memory may include one or more of volatile memory and non-volatile memory (e.g., RAM, ROM, hard disk, optical disk, etc.). It should be understood that the memory may be a single device or may include multiple types of devices and configurations.
  • the input device may include any device for inputting information into the computing system. In some implementations, the input device may include one or more peripheral devices.
  • the output device may be any device capable of outputting information from the computing system.
  • the data store may include information sources for storing and providing access to data. In some implementations, the data store may store data associated with a database management system (DBMS) operable on the computing system.
  • DBMS database management system
  • the DBMS could include a structured query language (SQL) DBMS, a NoSQL DMBS, various combinations thereof, etc.
  • the DBMS may store data in multi-dimensional tables comprised of rows and columns, and manipulate, e.g., insert, query, update and/or delete, rows of data using programmatic operations.
  • the data stored by the data store may be organized and queried using various criteria including any type of data stored by them.
  • the data store may include data tables, databases, or other organized collections of data.
  • the data store may be included in the computing system or in another computing system and/or storage system distinct from but coupled to or accessible by the computing system.
  • the data stores can include one or more non-transitory computer-readable mediums for storing the data.
  • the data stores may be incorporated with the memory or may be distinct therefrom.
  • the components may be communicatively coupled by the bus and/or the processor to one another and/or the other components of the computing system.
  • the components may include computer logic (e.g., software logic, hardware logic, etc.) executable by the processor to provide their acts and/or functionality. These components may be adapted for cooperation and communication with the processor and the other components of the computing system.
  • the retrieval of data from the bins may be performed at any time and with any frequency, depending on knowledge of use and filling rate. Hence, the retrieval of data for bins may be performed at real time or relatively often (e.g., several times each hour or day). Data from other bins may only be interesting to retrieve once a day, week, or month.
  • the retrieval of data may be performed in response to a signal sent from the management component.
  • the wireless unit may be configured to automatically perform retrieval of data at predetermined or random time intervals. The predetermined time intervals may preferably be instructed by the management component.
  • the data collection and processing component may be configured as two individual components - a data collection component and a data processing component, but in other cases the data collection and processing component is a single component. This is merely a matter of construction and is not particularly relevant for the present invention.
  • the data processing component may comprise a microprocessor 402, a data-analysis module 404, and a data- memory module 404 ( Figure 8).
  • microprocessor refers to standard electronic devices (e.g., programmable, silicon-based devices) that can process data.
  • the microprocessor 402 controls the data-analysis module 404 (e.g., hardware and software for statistical analysis) that process the data packet, and a data-memory module 406 (e.g., a computer memory or database) that stores it.
  • a web server 500 receives the processed data from the data-analysis 404 and data-memory modules 406 and makes it available to an Internet computer network 600 through a first network connection.
  • An end-user 700 may access the data on the web server 500 through a second network connection using the Internet computer network 600.
  • Each bin 100 may comprise a positioning system.
  • the positioning system may be configured for continuously or periodically receiving a positioning signal from a Global Navigation Satellite System (GNSS).
  • GNSS Global Navigation Satellite Systems
  • GPS Global Positioning System
  • GLONASS Global Navigation Satellite System
  • SBAS Satellite based augmentation systems
  • a single GNSS receiver can measure a ground position with a precision of about ten meters. This is, in part, due to various error contributions, which often reduce the precision of determining a position fix.
  • RTK Real-Time Kinematic
  • RTK Real Time Kinematic Satellite Navigation is a technique using the phase of the signal's carrier wave, rather than the information content of the signal, and relies on a single reference station or interpolated virtual station to provide real-time corrections.

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Abstract

La présente invention concerne l'utilisation d'une unité de capteur radar pour identifier des vides dans la cavité d'un conteneur à déchets ou de recyclage, et un système utilisant l'identification de tels vides pour la gestion de déchets.
PCT/EP2022/055404 2021-03-08 2022-03-03 Système de gestion automatisée de déchets Ceased WO2022189255A1 (fr)

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DKPA202100233 2021-03-08

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016115400A1 (fr) * 2015-01-15 2016-07-21 Goodwill Industries Of San Francisco, San Mateo And Marin Counties Système, dispositif et procédé de surveillance de conteneur
US20200191580A1 (en) 2017-08-25 2020-06-18 Nordsense, Inc. Storage and collection systems and methods for use

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016115400A1 (fr) * 2015-01-15 2016-07-21 Goodwill Industries Of San Francisco, San Mateo And Marin Counties Système, dispositif et procédé de surveillance de conteneur
US20200191580A1 (en) 2017-08-25 2020-06-18 Nordsense, Inc. Storage and collection systems and methods for use

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
ACCONEER AB: "Acconeer | Products", 9 February 2021 (2021-02-09), pages 1 - 6, XP055915328, Retrieved from the Internet <URL:https://web.archive.org/web/20210209190435/https://www.acconeer.com/products/> [retrieved on 20220425] *
ACCONEER: "acconeer-python-exploration/distance_detector.rst at 4bdcf6b1cf363c337126107252a3f5c11ac29bf6 . acconeer/acconeer-python-exploration . GitHub", 3 July 2020 (2020-07-03), pages 1 - 5, XP055915960, Retrieved from the Internet <URL:https://github.com/acconeer/acconeer-python-exploration/blob/4bdcf6b1cf363c337126107252a3f5c11ac29bf6/docs/processing/distance_detector.rst> [retrieved on 20220427] *
ACCONEER: "History for docs/processing/distance_detector.rst - acconeer/acconeer-python-exploration . GitHub", 27 April 2022 (2022-04-27), pages 1 - 1, XP055915962, Retrieved from the Internet <URL:https://github.com/acconeer/acconeer-python-exploration/commits/4bdcf6b1cf363c337126107252a3f5c11ac29bf6/docs/processing/distance_detector.rst> [retrieved on 20220427] *

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