Source: http://www.google.com/patents/US7903965?dq=6,891,551
Timestamp: 2014-09-30 22:51:32
Document Index: 395682484

Matched Legal Cases: ['art 120', 'art 150', 'art 120', 'art 122', 'art 121', 'art 271', 'art 360', 'art 361']

Patent US7903965 - Safety apparatus for controlling operation of functional equipment having ... - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign in<nobr>Advanced Patent Search</nobr>PatentsThe safety apparatus for controlling operation of functional equipment having movable parts is configured to use a camera to view and cause detection of a safety related event in a field of view of the camera. The device is useful in a reverse vending machine (RVM) for receiving, handling, sorting and...http://www.google.com/patents/US7903965?utm_source=gb-gplus-sharePatent US7903965 - Safety apparatus for controlling operation of functional equipment having movable partsAdvanced Patent SearchPublication numberUS7903965 B2Publication typeGrantApplication numberUS 12/556,230Publication dateMar 8, 2011Filing dateSep 9, 2009Priority dateJan 25, 2005Also published asEP1842169A2, EP1947613A1, EP1947614A1, EP1947615A1, EP1947616A1, EP1947617A1, EP1947618A1, US7596311, US7754990, US7908031, US7997417, US20070292117, US20080025826, US20080027581, US20090120847, US20100026807, WO2006080851A2, WO2006080851A3Publication number12556230, 556230, US 7903965 B2, US 7903965B2, US-B2-7903965, US7903965 B2, US7903965B2InventorsGeir Saether, Ronald Sivertsen, Tom LundeOriginal AssigneeTomra Systems AsaExport CitationBiBTeX, EndNote, RefManPatent Citations (19), Non-Patent Citations (1), Classifications (10) External Links: USPTO, USPTO Assignment, EspacenetSafety apparatus for controlling operation of functional equipment having movable partsUS 7903965 B2Abstract The safety apparatus for controlling operation of functional equipment having movable parts is configured to use a camera to view and cause detection of a safety related event in a field of view of the camera. The device is useful in a reverse vending machine (RVM) for receiving, handling, sorting and storing returnable items or objects. The RVM includes an item supporting, rotating, sorting and conveyor unit, an upwardly oriented storage chamber for such items, the safety apparatus to avoid operational hazards, a camera aided detection device for detecting at least one of a bar code on and other characteristics, e.g. contour of an item, a simplified token system, and a drive system with a releasable power coupling for operating the sorting device and a further storage device.
1. A safety apparatus for controlling operation of functional equipment having movable parts, said apparatus having a camera configured to view and cause detection of safety related event in a field of view of the camera, characterized in
that a background area is in the field of view, said background area in a part thereof exhibiting a set of stationary markings,
that a fraction of sensor matrix pixels in the camera is dedicated to providing an image of said markings, said fraction of pixels readable by a hardware configured operating unit,
said operating unit has a set of stored reference pixel signal values which are respectively related to pixels in said fraction of sensor matrix pixels, and which are related to said background area and said array of distinguished markings thereon,
said operating unit is hardware configured to compare a read pixel signal value from a respective pixel in said fraction of pixels with corresponding reference signal value assigned to such respective pixel, and to output respective comparison signal, and
that said operating unit has an output capable of changing its signal state of delivered signal when said comparison signal or a set of such comparison signals departs from a predefined condition, said delivered signal when in the form of a disabling or deactivating signal is effective to cause disablement or halted operation of said functional equipment.
2. An apparatus according to claim 1, wherein said functional equipment is located in a reverse vending machine for receiving empty beverage containers.
3. An apparatus according to claim 1, wherein said background area is located in a camera viewing chamber of a reverse vending machine, wherein the chamber has at least one entry opening into which an object in the form of an empty beverage container is insertable to be viewed by the camera, and wherein said set of markings is located at at least one of:
an entry region of said viewing chamber, and
one or more edge regions of the background area.
4. An apparatus according to claim 3, wherein said chamber has two entry openings, and wherein said set of markings are located at or adjacent to said openings.
5. An apparatus according to claim 3, wherein said chamber has one entry opening and one exit opening aligned with each other, and wherein said set of markings are located at or adjacent to said openings.
6. An apparatus according to claim 3, wherein said chamber has one of:
a) one entry opening and at least one exit within the chamber, and b) one entry opening and one exit opening aligned with each other, and wherein said set of markings are located at or adjacent to said openings.
7. An apparatus according to claim 3, wherein said set of markings includes a pattern of at least one column of mutually spaced markings.
8. An apparatus according to claim 3, wherein said set of markings includes a pattern of at least one row of mutually spaced markings.
9. An apparatus according to claim 3, wherein said set of markings includes at least one solid line.
10. An apparatus according to claim 3, wherein said set of markings form a pattern of mutually spaced markings arranged in at least one column and in at least one row.
11. An apparatus according to claim 3, wherein said set of markings form a pattern of mutually spaced markings arranged in at least one column and at least one solid line.
12. An apparatus according to claim 1, wherein said set of markings includes a pattern of at least one column of mutually spaced markings.
13. An apparatus according to claim 1, wherein said set of markings includes a pattern of at least one row of mutually spaced markings.
14. An apparatus according to claim 1, wherein said set of markings includes at least one solid line.
15. An apparatus according to claim 1, wherein said set of markings form a pattern of mutually spaced markings arranged in at least one column and in at least one row.
16. An apparatus according to claim 1, wherein said set of markings form a pattern of mutually spaced markings arranged in at least one column and at least one solid line.
17. An apparatus according to claim 1, wherein said operating unit includes a watchdog timer to check that reading of pixel signals from said fraction of pixels and comparison with reference pixel signal values are made at a minimum rate of iteration.
18. An apparatus according to claim 17, wherein said operating unit is configured at its output to change its signal state to a disabling or deactivating signal if said minimum rate of iteration is below a set value, in order to disable or halt operation of functional equipment having movable parts.
19. An apparatus according to claim 1, wherein said operating unit is a logic network having a response dictated by its hardware functions and inputs thereto.
20. An apparatus according to claim 1, wherein said operating unit is made from one of:
a plurality of discrete functional building blocks;
an application specified integrated circuit (ASIC),
an application specified integrated circuit (ASIC) in the form of a gate array, and
an implementation in a programmable circuit of the type Field Programmable Gate Array (FPGA).
21. An apparatus according to claim 1 wherein said set of markings comprises at least one of:
a pattern of at least one column of mutually spaced markings,
a pattern of at least one row of mutually spaced markings,
at least one solid line,
a pattern of mutually spaced markings arranged in at least one column and in
at least one row, and
a pattern of mutually spaced markings arranged in at least one column and at least one lying e.g. horizontal, marked line.
22. An apparatus according to claim 1 wherein said chamber has one of: a) one entry opening at least one exit within the chamber, and wherein said set of markings are located at or adjacent to said openings.
CROSS-REFERENCE TO RELATED APPLICATIONS The present application is a divisional of U.S. patent application Ser. No. 11/814,205 filed Jul. 18, 2007, now U.S. Pat. No. 7,596,311, which is a continuation of PCT/NO06/0029, filed Jan. 24, 2006.
FIELD OF THE INVENTION The present invention is related in general to apparatus for handling items or objects, e.g. for receiving, sorting and storing returnable items or objects, such as empty beverage containers like bottles, cans or the like. The invention is particularly useful in connection with reverse vending machines, although certain aspects of the present invention may also find other fields of use. In particular, the present invention relates to a safety apparatus for controlling operation of functional equipment having movable parts, said apparatus configured to use a camera to view and cause detection of a safety related event in a field of view of the camera.
Most RVMs need to have the ability to inspect identifying features on the object, such as e.g. a bar code. If such features are not immediately seen by a dedicated detector, the object will need to be rotated to find if such features are indeed present. An object rotating mechanism is expensive and requires substantial space in the longitudinal or depth direction of the RVM. Further, if such RVMs are also to provide object sorting, an additional sorter has to be provided, adding further to the cost of the installation, and the dimension of the RVM as regards depth dimension is in some cases prohibitive when both a rotator and a sorter are to be included. Also, most owners of stores, shopping centers or supermarkets are concerned over RVMs requiring substantial and expensive space for collecting the containers received by the RVM, such space frequently being occupied by container collection tables.
SUMMARY OF INVENTION A conveyor means has been described in connection with an inventive facility which allows storage of a large number of returnable items or objects in a mostly vertically oriented storage space without employing a vertical conveyor for filling the storage space.
The upwardly oriented storage is suitable for storing in a substantially upwards filling direction returnable objects or items, particularly returnable containers like bottles, cans and the like, preferably such that are made from plastic, glass or metallic material.
Such conveyor means is useful for receiving and sorting returnable items, and in the present context preferably for delivering returnable items for storing in a storage facility, and it has been the purpose to provide for a very compact conveyor means for such use.
The conveyor means as defined are particularly suitable for feeding returnable objects or items, particularly returnable containers like bottles, cans and the like, preferably made from plastic, glass or metallic material to a vertically or upwardly oriented storage for storing returnable objects or items in a substantially upwards filling direction.
More specifically, the conveyor means is adapted to handle, sort and convey returnable items or objects, and for feeding such items or objects into the substantially vertically or upwardly oriented storage space, without employing a vertical conveyor for filling the storage space.
In recognition of the necessity to be able to view and recognize characteristic features of an object, there is described a device for enabling camera viewing of characteristic features of an object in order to subsequently enable processing of signals related to viewed features.
From prior art it is conventional to view an object or article, e.g. empty beverage packaging, such as a can or bottle, against a light reflective background, the viewing being made via a lens in order that light rays which are sent towards the object are parallel rays. DE 19512133 A1 discloses such technique. On the basis of such viewing, analysis for object contour is made.
It is a well known fact that in order to be able to detect both contour of the object and read indicia or identifying features located on the object, including object rotation to find and read identifying features, multiple and separate operating units need to be provided, thus requiring extra space within the RVM to carry out the operations. If there is in addition the requirement of a sorting function, additional challenges arise as regards available space. Said EP publications EP1311448 and 1313656 disclose, with reference to an RVM for beverage container such as bottles and cans, the provisions of contour detection, barcode reading and beverage container sorting. Contour detection and sorting is made by one operating unit (see EP 1313656), and a further operating unit (EP 1311448) provides for beverage container rotation to find a barcode and barcode reading.
European Patent EP-0910485 (TOMRA SYSTEMS ASA) discloses a camera functionality in order to control movements in a camera field of view in connection with a reverse vending machine. Such movement control is software related.
The present invention accordingly describes useful and novel embodiments of such safety apparatus, and the characteristic features thereof appear from the relevant independent apparatus claim. Further embodiments of the safety apparatus appear from the corresponding sub-claims.
This is explained in more detail with reference in particular to drawing FIGS. 37 a, 37 b, 37 c, 40 a and 40 b. Reverse vending machines conventionally issue a specially printed token related to the return or redemption value of empty beverage containers received by the reverse vending machine (RVM), and the token is then taken to a rewarding unit or so-called checkout and payment station to get a cash reward or a cash deduction from a bill to be paid for other sales items or objects, e.g. groceries. However, it has also been a long felt desire to simplify dispensing of tokens in a RVM to avoid occasional and inherent printer failures well known to the expert in the art when tokens are to be printed with individual return value related data.
Closely linked thereto is a token system related to a reverse vending machine which is configured to detect and identify features of an object, tokens being dispensable one-by-one from a token dispenser and configured to be related to an object being observable and detectable for object identification.
Security measures have over the past years been implemented in order to avoid recurring swindle attempt through presentation at the rewarding unit of home-made tokens with a redemption value printed thereon. Thus, the new tokens issued have also included a particular serial number, and both the redemption value and the serial number have been communicated from the RVM to a central computer, suitably located in the store or supermarket, in order to validate the token, and when the token has been presented at the rewarding unit, payment is made to the customer and the central computer then invalidates the token by removing the data from availability at the rewarding unit.
The tokens are usually made from thin paper from a roll of paper passing through a printer, suitably a thermal printer, before it is issued to the customer. Experience has, however, shown that use of such printed paper tokens has the drawback that the printer occasionally fails, the printer is expensive and needs maintenance service at regular intervals, and the paper from the paper roll is expensive and needs to be of a particular quality to yield as low failure rate as possible.
Given some of the disadvantages of the prior art tokens, it is therefore, according to the present disclosure, an object to provide for a token system that avoids printing of tokens in an RVM, yet provides the required security against swindle attempts and avoids the use of any printer and related printer maintenance.
In addition to the features of the invention previously referred to the present disclosure is also concerned with the inherent problems in a reverse vending machine of disconnecting operational units for cleaning purposes, services etc., and there is accordingly described a novel drive device in a reverse vending machine to forcibly drive at least one handling unit suited to handle empty packaging in the form of empty beverage containers.
In the following, the safety apparatus, as well as aspects related to an upwardly oriented storage, a conveyor means, a device for camera aided viewing of characteristic features of an object, a token system and a drive device, will be explained by way of examples and by reference to the accompanying drawings, wherein the same reference numerals indicate the same elements, although as regards some elements, different reference numerals have been used for elements having same properties of functioning and for practical reasons.
FIG. 1 a shows in a perspective view, an exemplary mode of a reverse vending machine with object storage chamber; object supporting, rotating, sorting and conveyor means; camera-aided detector device; supplementary item/object collector means; token dispenser; token reader; safety apparatus; and drive means,
FIG. 2 a shows an exemplary embodiment of an essentially upwardly oriented storage or storage chamber,
FIG. 8 is a principle drawing showing a possible layout of a storage facility having multiple storage chambers, a conveying and sorting means, and means for reading information from, or detecting the type of, returnable item or object being positioned in an input receiving area,
FIG. 13 is a partial sectional view of an embodiment of a drum type conveyor for incorporation in the storage facility, the drum being rotated in a first direction from the second position to assume a third rotational position in which with the piston-like plunger element is in an advanced position,
FIG. 15 is a partial sectional view of an embodiment of a drum type conveyor for incorporation in a storage facility, with the drum rotated in a direction opposite to that starting at FIGS. 11, 12 and ending at FIGS. 13, 14, i.e. a rotation in clockwise direction�as viewed on FIG. 15�from the second position to the first position to assume a further rotational position with the piston-like plunger in an advanced, downwardly facing position,
SPECIFIC DESCRIPTION RVM Overview
FIG. 1 a illustrates in an exemplary embodiment a reverse vending machine (RVM) 1 embodying main inventive aspects of the present invention, i.e. object storage chamber 2; object supporting, rotating, sorting and conveyor unit 3; camera-aided detector device 4; supplementary item/object collector means 5; token dispenser 6; token reader 7, safety apparatus 8, and drive means 9; 9′. The unit 3 (later denoted as 200) could have to have its longitudinal axis 3′ horizontal or forming an angle α with the horizontal, yielding angle β in the range�0�-30�, as indicated on FIGS. 1 b and 1 c. In the more detailed disclosure to follow, the operational means 2-9 just mentioned will for practical reasons be denoted by other reference numerals. Direction is also made to FIG. 51 showing the figure of FIG. 1 a, however with more reference numerals inserted to identify location of some of the various operational means which are extensively disclosed in the disclosure to follow in connection with FIGS. 2-50.
With reference to FIG. 2 a showing a principle drawing of a storage chamber according to the present invention, certain features relating to the storage chamber and the principles of the invention will now be explained. In an advantageous embodiment of the invention, the storage chamber has an elongated and vertically oriented shape, with bottom and side walls, wherein the side walls are spaced apart, preferably sufficiently to allow for a side-by-side storage of a plurality of returnable items. The storage chamber has an in-feed opening in the lower part of the chamber, preferably arranged in one of the side walls, and feeding of the storage is obtained by driving returnable objects or items to be stored in the chamber into the storage chamber through the in-feed opening. By properly selecting the force by which the objects or items are driven into the storage chamber, and preferably by applying a forced pushing or thrust mode drive, objects/items already positioned in the storage chamber will be driven away from the in-feed opening and into the interior or back of the chamber until the chamber has been filled to the level at which the in-feed opening is located, and thereafter driven upwards by further objects/items being driven into the chamber.
In the illustration of FIG. 2 a, the storage chamber 100 illustrating the invention is provided with a bottom part 120 and a side wall 130, 131 or 132, respectively, and an upper part 150. An in-feed opening 140 is located in the lower part of one of the side walls. To allow the storage space 110 to be safely emptied into removable transport container (not shown), e.g. a large box, for removal of returnable items 10 collected in the storage space or chamber 110, the bottom 120 can be made movable or removable, or one of the side walls 130 can be made movable such that items stored in the chamber or space 110 can be removed therefrom. As the chamber is being filled by returnable objects/items 10, it can be expected that the force applied to drive additional objects/items 10 into the storage through the in-feed opening 140 may give rise to some tension in the items already in the storage, due to other forces such as from friction or the weight of the stored items 10. Tension or friction may typically result in problems when trying to empty a filled storage space, for which reason a movable interior wall 132 is proposed, such that, in the case where the bottom part 120 is adapted to be opened to empty the storage space, the interior wall 132 may be moved in a direction away from the items 10 already located in the storage room. Thus, the tension is relieved and friction is reduced. This will allow for easy emptying of the storage. As the storage room becomes filled above the input opening, there is a risk that objects/items already positioned in the storage space may flow back through the in-feed or inlet opening. To stop such possible back-flow, a back-flow blocking arrangement 170 is preferably provided in the area of the in-feed opening.
Although the conveyor 200 is included upstream of the compactor 290 on FIG. 2 b, it will be appreciated that in a particular embodiment the storage 100 and the compactor 290 could be able to work without the use of the conveyor 200. In an alternative, as generally indicated on FIG. 2 c, a conveyor could be included, as indicated on FIG. 2 b, or the conveyor needs not to be provided, or it could be operationally integrated with the compactor unit, the integrated unit being labeled 291.
Now, with reference to FIG. 3, an alternative storage chamber in-feed arrangement is explained. In the principle shown in FIG. 3, when compared with the principle shown in FIGS. 2 a-2 c, the in-feed opening 140 is no longer positioned in a side wall, but rather in a bottom part 122 of the storage chamber 100. By this arrangement, items 10 to be stored will be provided with an upwardly directed movement or drive force component as a result of the in part upwardly directed drive component applied to drive items into the storage space. Similarly to what is shown in FIGS. 2 a-2 c, there may be provided several options for removing items stored in the storage space, such as by a movable or removable bottom part 121, or by a side wall arrangement as shown by 130, 131 or 132 in FIGS. 2 a-2 c. The storage chamber illustrated is adaptable to handle an overflow of stored items 10 by being provided with an overflow opening 160 through which excess object/items due to an overfilling of the storage space may exit from the storage chamber 110 and thereby relieve the storage chamber 110 from possible additional stress, as may result from further filling of the chamber by additional items 10 when the chamber has reached a point of maximum filling.
Reference is now made to FIG. 6, which provides an illustration of the principles of the present invention in a possible layout having multiple storage chambers. The exemplary storage facility illustrated in FIG. 6, comprises as many as three storage chambers 110, 112 and 114, respectively, each having a respective in-feed opening positioned for being in communication with a conveyor 200 being capable of receiving an item in an input receiving area 110 and conveying the received item 10 to a selected one of in-feed openings 141, 142 and 143 (see also reference numerals 263, 264 and 265 with respect to the embodiments of FIGS. 20-24 and 32) of the storage chambers 110, 112 and 114, respectively. The storage chamber 110 is provided with a cooperating supplementary storage space 161 in communication with the first storage chamber 110 by overflow openings 160 in the upper part of adjacent side walls. Storage chambers 110 and 112 have respective in-feed openings 141 and 142 located in respective side walls in their lowermost parts, and are dimensioned appropriately to provide a filling of the respective chamber in an upwardly direction when the appropriate item is driven into the chamber through the respective in-feed opening. In the example of FIG. 6, storage chamber 110 has been provided with a deflector 180 located inside the chamber and at an appropriate distance from the in-feed opening 141 to provide an upwardly directed force component to objects/items being driven or forced into the storage space in a specific direction, although the driving force may already have an upwardly directed drive component. Thus, the upwardly directed drive forces exerted on the item 10 as it enters the chamber may become more consistent, and also less dependent on the shape and nature of other items 10 already located in the storage. Advantageously, the deflector can be moveable, such as by being tiltable or even removable, to allow easy and complete removal of all items held in the storage chamber when the storage chamber is to be emptied.
FIG. 7 shows a simplified variant of the layout depicted in FIG. 6, and with a conveyor of a drum type that provides a highly compact facility for receiving, transporting, sorting and storage of returnable items. The arrangement shown in FIG. 7 is capable of sorting, conveying and storing large quantities of returnable items while requiring a very small floor space, by employing the compact conveyor and sorter 200 and the vertically oriented storage system of the present invention. Thus, the need for use of a separate lifting arrangement to fill from a low level a tall storage space is being eliminated, such that in a practical implementation and embodiment the storage chamber may extend from any level and up to a ceiling above as desired, which is highly beneficial in a small business environment, like in a convenience store or a gas station, where available floor space typically is quite limited. The FIG. 7 embodiment provides for the additional storage or item collector 114 below the conveyor and sorter 200. In the case of receiving returnable items like bottles and cans, glass bottles could e.g. be dropped by gravity into the collector 114 when the conveyor and sorter 200 has brought such a type of item to be just above a receiving opening of the collector 114.
Reference is made to FIG. 9, to explain the drum type conveyor of the present invention. The drum type conveyor includes a drum shaped element that is rotary about a central, longitudinal axis of rotation 221. A substantially rectangular and elongate recess-like space or cavity, being open at the peripheral area of the drum, is provided in the drum, for holding an elongate movable element which can be retracted and advanced, the movable element having an outer surface that in the advanced position preferably becomes substantially aligned with an outer surface of the drum. In the accompanying drawings, the movable element is denoted by the numeral 223, and the space or cavity in the drum is denoted by reference numeral 222. The rotational capability of the drum 220 is obtained through use of bearings positioned in a region at each end of the drum, and positioned on the axis of rotation 221. A part of the structure as shown in principle for example in FIG. 8, such as a cabinet, can be adapted to hold the bearings in place, thereby allowing the drum to rotate with its outer surface 228 in proximity to the input receiving area 210 which is made to coincide with an inlet opening 425 (see FIG. 51) in the cabinet 250 (see FIG. 18), 428 (see FIG. 51). As an alternative, as shown in FIG. 10 and in other drawing figures, the drum 220 may be positioned in a frame 240 to form a conveyor assembly for easy conveyor assembly removal for convenient conveyor cleaning, test, maintenance and replacement.
Preferably, as shown in FIG. 10, 14 or 16, the moveable element 223 is driven by way of a moveable element drive means comprising a tappet or a roller 232, being attached to the moveable element 223, that follows a track 231 located proximal to an end of the drum and being stationary in respect of the drum. By providing a tappet or roller 232 on each side of the moveable element, made to engage with respective stationary tracks 231 located proximal to respective ends of the drum, a balanced driving force can be applied to the moveable element by the rotation of the drum. Thus, only the drum will require a drive for the assembly to operate as described here, as the moveable element will be driven by the movement of the drum relative to the stationary track. The shape of the track, i.e. the distance of the track from the axis of rotation of the drum, controls the position of the tappet or roller 232, and, hence, the position of the moveable element, in a radial direction with respect to the drum center axis. The track is a single, continuous track 231 followed by the tappet or roller means 232.
In FIG. 9, the drum 220 is shown in a first rotational position with the movable element in an advanced position and pointing downwards, and with a returnable object/item 10 entered into the input receiving space or area 210 to be placed on an upward facing region of the outer circumferential surface 228 of the drum 220. In a preferable embodiment, the drum type conveyor includes an elongate roller 243, or other means to allow rotation of the item while keeping the item in the input receiving area, to facilitate a rotation of a returnable object/item 10 resting on the drum surface 228 as the drum 220 is put into rotation about its axis of rotation 221. In particular, when the returnable item is provided with a readable code for identification of the item or for providing specific information about the container, rotation of the object/item 10 will often be required to position the part of the object/item 10 carrying the code such that it becomes readable, for example by use of a reader or recognizing device 20 located to observe the input receiving area, as shown in FIG. 8. The drum type conveyor has also a guide 241, e.g. a curved plate member, that extends from the area 210 to the output 224, as will be further explained in connection with FIG. 15. Further guides 241, e.g. as also shown on FIG. 15, could extend from the area 210 down to the output 226′.
FIG. 10 depicts in a perspective view the drum 220 in the first rotational position as shown in FIG. 9 and with the returnable item 10 resting on an upwardly facing part of the drum circumference. In the embodiment of FIG. 10, the conveyor is provided with a roller driving 244 means for driving the roller 243 in conjunction with driving of the drum, such that the surface velocity of the roller 243 is in a range of a velocity of a rolling surface 228 of the drum when rotated. Preferably, the roller driving means 244 comprises a gear drive arrangement that mechanically provides a rotation of the roller 243 by the rotation of the drum 220. Movement in an axial direction of a returnable object/item 10 being positioned in the input receiving area and resting on the drum 220 and roller 243 is in part restricted by end walls 229 associated with and located at each end of the drum 220, and in part by elements 242 that constitute the frame 240. Depending on the design of the means for driving the movable piston-like element 221 between its retracted position and its advanced position, the conveyor shown in FIG. 10 can be provided with a single output 224, corresponding to only one particular angular drum rotary position, or with a second output at a different angular rotary position of the drum.
In FIG. 15, a partial cross sectional view of the drum type conveyor shows the situation based on the situation shown in FIG. 11, now with the drum rotated in a second and opposite rotational direction (clockwise direction in the example), whereby the returnable object/item 10 that was received in the space or cavity 222 when the drum was in its second rotational position has been carried by the drum through a rotation of the drum through approximately 180� so that the drum assumes its first position as shown on FIGS. 9 and 10. The object/item is driven out from the space 222 by the movable element 223 moving from a retracted position to an advanced position, but also by the effect of gravity. A guide 241 is provided to restrict the movement of the object/item 10 when held in the space 222 while the drum is being rotated from the second rotational position with the space facing the input receiving area 210 to the first rotational position with the opening of the space 222 and the curved face 223′ of the element 223 being in register with the output 226′. The situation of FIG. 15 is also shown in the perspective view from below of FIG. 16, with the item 10 exiting from the conveyor at the alternative output 226′.
Reference is first made to FIG. 20, which in principle shows a first embodiment of a substantially linearly moveable plunger in a stationary housing type conveyor, as comprising an elongated housing 260 with an input opening 262 on one side adapted to face the input receiving area 210 of the storage facility, an interior space 261, a substantially linearly movable plunger or slide member 270, a first output 263 and a second output 264. Although exemplified here with a housing based on a straightforward design for a rectilinear movement of the plunger, the housing may be designed to be curved in any direction to allow an output in an arbitrarily chosen angle. With a housing having a curved shape, naturally, the plunger would follow a curved path corresponding to the shape of the housing. Also shown in FIG. 20, is an elongated slot 272 in one side of the housing, which is provided as an access means for allowing a plunger drive means (not shown) to be attached to the plunger 270 for positioning of the plunger in different parts of the interior space 261. Such a slot can be provided at any longitudinally extending side of the housing, and also at more than one side to provide a balanced drive force to the plunger. In FIG. 20 is also shown a returnable object/item 10 which has been positioned in the input receiving area, and which by the aid of gravity and the provision of the input opening 262 will fall into the interior space 261 of the housing, and thereby become located adjacent to the plunger 270 when the plunger initially has been positioned in a first position which is below the opening 262.
In a preferred embodiment of the conveyor and sorter of the present invention, as shown on FIGS. 20 and 21, embodying the moveable plunger in a stationary housing type conveyor, the conveyor suitably includes an item turning device, preferably using at least one roller 273 or preferably two rollers 273, 273′ if two outputs 263, 264 are two be used. The device is located adjacent the input opening 262. The upper side face 271 of the plunger, i.e. the side of the plunger that will be facing the input opening 262, has a surface structure that is specially prepared to provide good friction against a returnable object/item 10 that has been deposited in the input receiving area and brought to rest on the upper side face 271 of the plunger. A rotation of the object/item 10 that rests on the upper side face 271 of the plunger 270 is then obtainable by movement of the plunger 270 while the object/item 10 is resting on top of the plunger 270, which rotation is further augmented by the rollers 273, 273′. The rollers 273, 273′ also cause the object/item 10 to not move away from the opening 262 while rotated or if the longitudinal axis 260′(see FIGS. 21 and 23) of the housing forms an angle with the horizontal. The upper side face 271 of the plunger 270 can be extended in any direction of movement of the plunger 270, to obtain a desired range of turning of the item 10 that rests on the upper side face 271 of the plunger 270. Although just one roller 273 may suffice, a preferred embodiment of the plunger type conveyor and sorter has two rollers 273, 273′, one at each side of the input opening 262, to facilitate rotation of the item 10 in any direction in connection with a movement of the plunger 270 in the longitudinal direction of the housing 260. The rollers are rotatably supported at each end by mountings 275. The rollers 273; 273′ can be freely rotatable, or they can be driven by a driver arrangement 274 by way of a separate drive means or by a linkage to the plunger 270 or the driver for the plunger. Preferably, but not necessarily, the drive means 274; 274′, e.g. a motor inside the roller, is arranged such that a surface velocity of the roller 273 during its rotation is about the same as the surface velocity of the upper face 271 of the plunger 270, relative to the housing 260 as the plunger 270 is moved in the housing 260. In order to obtain a measure for the mass of a returnable object/item 10 resting on the plunger 270, any roller arrangement 273 can include a load cell 276 suitably supporting the roller at one end thereof in order to measure a reaction force exerted on the roller as a function of an acceleration or turning of the object/item 10 due to movement of the plunger 270, or a reaction force due to the weight of the item 10, in particular if longitudinal axis of the housing 260 is made to tilt, e.g. in the range of �0�-30� relative to the horizontal.
Now, with reference to FIG. 22, a further variant of the conveyor and sorter of the type having the moveable plunger in a stationary housing will be explained, this embodiment exhibiting three outputs. In this variant, at least three positions for the plunger element in the housing are defined, namely with the plunger positioned immediately under the input opening 262, with the plunger positioned toward a first output 263 in the first movement direction of the plunger 270, and a further position where the plunger has been moved near a second output 264. For the sake of clarity, the rollers 273, 273′ have not been shown on FIG. 22, but the rollers will preferably be present in a practical embodiments. The variant shown in FIG. 22 includes a third output 265 of the housing, the third output being located opposite to and below the input opening 262 in the bottom of the housing 260. Preferably, the third output 265 includes a closing means 265′ which is shown on FIG. 23, but not on FIG. 22. The closing means 265 is capable of controllably blocking the output 265 such that an object/item 10 that has entered the interior space 261 of the housing 260 selectively can be kept from exiting the housing through the output 265 if the object/item 10 is instead to be directed towards a different output, e.g. output 263 or 264. The means 265′ for selectively closing the third output 265 can be made operational by way of a separate driver or actuator 265″, e.g. a solenoid, or by a linkage to the plunger 270, for example by placing the output in an open state when the plunger is placed in an extreme position within the housing, such as for example in connection with a movement of the plunger beyond the position of the plunger 270 as shown in e.g. on FIG. 22. By the depositing of an object/item 10 in the input receiving area 210 immediately above the input opening 262, and with the third output 265 in an open state, and by locating the plunger 270 in a position where it does not block a passage provided between the input 262 and the third output 265 by the interior space 261 of the housing, the object/item 10 is allowed to pass through the opening 262, the interior of the housing 260 and then exit through the opening 265. The exit of the item 10 after having traveled straight through the housing from the input 262 to the output 265 is shown in FIG. 22.
FIG. 25 depicts a first light source 300 and a second light source 301, the light source 301 suitably consisting of a plurality of light sub-sources 302, 303, 304, 305. The light sources 300 and 301 are separately configured to illuminate a first region 306 and a second region 307 of an object, e.g. a returnable item 10; 10′; 10′, 10′″. A single camera 308 is provided to view at least part of the regions 306 and 307. The first light source 300 is configured to assist the camera 308 in viewing of contour of objects, items or articles 10, 10′, 10′, 10′″ of different cross section, e.g. empty beverage packaging such as cans and bottles against a light reflective area or background 313 forming a bright, light emitting background. The light from the first light source 300 is directed towards the object (e.g. one of those labeled 10 through 10′″) as parallel light using a lens 314. The second light source 301 is configured to assist camera viewing by the camera 308 for detection and recognition of any identity features located on the object in viewing sector labeled 315.
A brief repeated disclosure is now made of the alternative supporting means as shown on FIGS. 20-24 in the context of camera aided viewing of an object 10. The single camera is generally denoted by 308, 308′, the reference 308′ symbolizing viewing by the camera 308 via e.g. a beam splitter 318 and mirrors 321, 320 (see FIG. 27). Said supporting means is suitably in the form of the housing 260 forming a guide with an object receiving input opening 262 and a reciprocating plunger or 270 therein. There is suitably at one or both of two longitudinal sides of the opening 262 an auxiliary roller 273; 273′ for roller support upon rotation of the object or item 10; 10′; 10″; 10′″ on the plunger 270 when it is set to move with its upper surface 271 past said opening, thus enabling the camera 308 to read an identifying feature on the object or item 10 if not immediately viewable by the camera. The plunger 270 is controllable to move beyond said opening 262, e.g. to the position shown by dotted lines 270″ to allow the object to drop into the interior of the housing 260 through said opening 262 and by return movement of the plunger 270 (towards left as shown on FIG. 32) causing the object to be pushed out of the housing to an output location 263. From the understanding and concept depicted in connection with the supporting means 200 on FIG. 26, it is readily appreciated that the object 10 is camera observable while at a location inside said housing 260 below said opening 262, provided that such location is in at least part of a field of view of the camera 308. In a particular embodiment, at least at the upper part 271 of the plunger 270 can be provided with a coating retro-reflective to light, thus enabling the contour of the object, e.g. 10, to be viewed from above.
FIG. 35 is a modification of the embodiments of FIG. 30. It is noted that the lens 353, which is suitably of same type as lens 347 in FIG. 30 or lens 314 in other drawing figures, is present in order to let a single camera 356 view and detect object contour, e.g. contour of object 309 against the panel 350 which in this embodiment constitutes the first light source. The second light source is that labeled 349, which could be constituted by two or more light sub-sources. The camera 356 uses the lens 347 to enable viewing through use of parallel rays, in order to get as accurate contour image of the object as possible. The light source 349 is activated when the camera is to view and read identity features, like e.g. bar code 309′, located on the object. Suitably, panel 350 is then not exhibiting a light emitting surface or background area, or its light emitting intensity could suitably be reduced. Other structural details shown on FIG. 35 will be further explained later with reference to FIG. 39.
Further aspects of the invention are now to be explained with reference to FIG. 37. In the particular case of the embodiments of FIGS. 25, 26 and 28, as well as FIG. 33, it would be suitable to split the camera video image in two with a part 360 related to the first region 306 and another part 361 related to the second region 307. In the embodiments of FIGS. 27 and 34 it may be visualized the possibility of dedicating half of the camera video image to region 306 and the other half to region 307, or alternatively have alternating full video images of regions 306 and 307. For the embodiments of FIGS. 29, 30 and 36 the choice is alternating full video images only.
FIG. 37 a exhibits two half-images 360 and 361, as previous discussed, whereas FIG. 37 b exhibits a generalized full image 386 as provided by the available pixels on a camera image sensor matrix 401′ (see FIG. 37 c). The dotted line 387 and/or 387′ on FIG. 37 b (not shown on FIG. 37 a for clarity reason) denotes, relative to the camera image, a fraction or fractions of matrix pixels being a selected part of the available sensor matrix pixels. Said fraction 387 of sensor matrix pixels is dedicated to detection of the array or column of markings, as well as any events observable by said fraction of pixels and which could trigger an action, such as stopping operation of a motor, e.g. motor 404 or 422 with reference to FIGS. 46, 47, 48, 49 and 51. Similarly, said fraction 387′ of sensor matrix pixels is dedicated to detection of the array 385″ or row of markings, as well as any events observable by said fraction of pixels and which could trigger an action, such as stopping operation of a motor, e.g. motor 404 or 422 with reference to FIGS. 46, 47, 48, 49 and 51. As indicated above, the arrays 385 and 385″ of markings 385′ and 385′″ could both be present, yielding that both fractions 387 and 387′ will be active for detection of markings and observable events.
A background area 314; 350 is located in the camera field of view, and as shown on e.g. FIG. 40 a, said background area in a part thereof exhibits the array 385 of distinguished markings 385′.
As indicated on e.g. FIGS. 26 and 40 a, and derivable from FIG. 46, the background area 313; 350 is located in a camera viewing chamber of a reverse vending machine. The chamber or input receiving area 210 (FIGS. 6-9) has entry opening (see 425 on FIG. 46) into which an object 10 in the form of an empty beverage container to be viewed by the camera, is insertable. From FIG. 40 a is noted that the array 387 of markings is located at an entry opening or region 425 of said viewing chamber 210. The in-feed direction for objects is indicated by reference numeral 388 on FIG. 37 b. As indicated on FIGS. 37 a, 37 b and 40 a the array of markings is in a predefined pattern, suitably a column 385 of mutually spaced markings 385′. However, as disclosed above there could be as an alternative or in combination with the pattern 385 an additional predefined pattern 385″ of mutually spaced markings 385′″ extending as e.g. an upper row, to provide an addition light curtain and to safeguard against any safety hazards caused by someone trying to put e.g. a hand into the viewing chamber from above, as e.g. indicated by reference numeral 388′.
In order to provide a proper safety function, it is appreciated that surveillance images of the chamber or area 210 will have to be generated frequently. Using the camera 401, it will by means of the operating unit 408 and with aid of the unit 400 be checked first if a complete bright line exists, i.e. all matrix pixel values above a predefined dark level threshold. If this is the case, there will be a search for alternating dark and bright areas along a predefined column, such as column 385. In a preferred embodiment, the detected image of dark areas 385′ should be within minimum and maximum length requirements to pass acceptance. Further, the bright areas must be of a minimum length before accepted. Also, the image must end with an accepted bright area. Finally, an accumulated number of accepted dark areas must equal a predefined number.
FIG. 37 c is a system block diagram specifically related to the light curtain functionality, and should be considered essentially as part of the block schematic shown on FIG. 46. The camera 401 is controlled by a digital processor 400 associated with the operating unit. This processor is in FIG. 46 denoted as a processing and control unit 400. Line 389 denotes camera control, and the camera delivers image data signals on line 390 to the operating device 408. The operating device 408 has a watchdog timer 403 connected thereto. The unit 400 suitably controls triggering of camera imaging, as well as synchronization of the camera and any background illumination. Image data are conveyed from the operating unit 408 to the processor 400 via line 392, and the processor 400 provides the operating unit 408 with certain control signals via line 392. The processor 400 is suitably the main processor of the overall system, although this is not necessarily so.
Most importantly, to avoid the drawbacks known from prior art and as mentioned in the introduction, the dedicated set of sensor matrix pixels forming a fractional part of the total number of sensor matrix pixels is not selected through use of software, but is instead related to a limited number of physical pixels or elements on the camera image sensor matrix. As the light curtain function is important from an operational safety point of view, it is therefore absolutely essential that the light curtain function is not at all software based.
In the embodiments of FIGS. 29-31, as well as FIGS. 35 and 36, the camera 340; 345; 351; 356; 358 could suitably take images alternately or selectively, although it could be visualized taking two partial images of the viewing region simultaneously, one dedicated to contour recognition and the other to identifying features on the object. The embodiments of FIGS. 30, 35 and 36 in addition provides for reading of marking on a token, as disclosed e.g. in relationship to FIG. 38-42.
It has been disclosed above that the second light source 301, or for that matter also the light sources 344, 349 and 359 can be constituted by a plurality of light sub-sources, and the light source 301 has been indicated to have e.g. four such sub-sources 302-305, although there could be fewer sub-sources or more. For the other sources 344, 349 and 359 three or four sub-sources have been indicated, without labeling each. The reason for more than one light sub-source is that light reflexes from the object or position of the light sub-source relative to the identifying feature on the object may cause the reading of the feature to be difficult or even impossible. In view thereof the light sub-sources are suitably selectively activated, although activation would be possible individually, in pairs or in groups, or in a cycle.
If the card is a magnetic stripe card or an r.f. card and with no information on the card when it is located in the dispenser, the code reader/encoder 411 will be able to encode the card with a card code, such as e.g. a serial number or other identity, or the combination of a card code or serial number or other identity and a redemption value to be rewarded or paid, as the cards are fed out from the dispenser one-by-one.
If the cards to be used for reward of empty beverage containers deposited in the RVM are not to be delivered from a card dispenser, such token could be a personal token which the customer brings with him to the RVM and uses to transfer card identity data from the card to the RVM. If the card is an optically readable card, it can be read by the camera 401 and as indicated further by reference 411′ when inserted into a slot (see reference 370; FIG. 26) and viewable through an aperture (see reference 370′; FIG. 26) in the light retro-reflective area (see reference 313; FIG. 26). If the card is an r.f readable card, the card could be readable by an r.f. reader 411″, and if the card is a magnetic stripe readable card, the card could be readable by a magnetic stripe reader 411′″.
The processor 400 will either directly, or via a central computer installation 413 transfer to a rewarding or check-out and payment station 414 information related to a readable token code and information related to said return value. Transfer of information to and from the processor to the computer 413 and the station 414 is suitably via a local area network (LAN) 415. The station 414 has a card reader 416 to read the card before reward or redemption value is paid. The card is then invalidated through use of a token invalidation means 407 associated with the station 414 or through internal operation in the unit 400 and/or the computer 413. In an alternative embodiment the processor 400 communicates with a �tick-off� unit 417, which could be in the form of a mini-computer, such as so-called PDA. This could be a solution useful for a small store, through which there is conveyed to the unit 417 from the processor displayable information such as visible card identity and sum to be paid. Upon payment of the required money, the operator ticks off the particular item displayed, which is then made void or invalid, cancelled in the unit 400 and/or computer 413, and suitably removed from the display on the unit 417.
The RVM has suitably a display 418 to properly guide or inform an RVM user how to operate. If the display is a touch screen, the customer may communicate with the processor 400. The container weight sensor 419 indicated on FIG. 46, which has been described earlier in the context of FIG. 18 as sensor 253, is provided to engage an end 247 of an axle 243′ (see FIG. 26) of the roller 243, so as to spot whenever a too heavy beverage container is fed into the RVM through an opening 425 on the RVM. The term �too heavy� in this context is meant to imply that the unit 400, upon receiving information related to shape and identity features, will compare these data with library data in the unit 400, and thereby determine whether the object in fact should weigh less or not. This has been disclosed in more detail earlier. Also as indicated, the weight sensor could suitably form or supplement the jam sensor 405.
FIGS. 47, 50 a, 50 b and 51 show that the unit 200 is powered by a motor 404 via a gear 500 which engages a gear 501 on the unit 200 to turn the drum 220 and in so doing also moving the element 223. The roller 243 is forcibly moveable through interaction between a small gear 502 and the substantially larger gear 501. Motor 404 is fixedly attached to the framework 503 of the RVM via brackets 504, whereas the unit can be pulled out entirely from the RVM cabinet 428 (see reference 250 on FIGS. 18 and 19) for cleaning, as indicated by arrow 505, and be pushed into the cabinet again after cleaning for gear engagement between gears 500 and 501. No electrical parts are present on the unit 200, just mechanical parts which stand wet cleaning, and even high pressure wet cleaning without any problem.
In the example of FIG. 49 a, the male part has a spring-loaded plug 509, loaded by a spring 510 in a housing 511 and powered by a motor 512 via a drive shaft 513. The female part has a housing 514 with a drive shaft 515 connecting to a drive mechanism (not shown) located on a handling unit, such as e.g. a handling unit like the unit 200 or 426. The housing has a recess or socket 516 configured to fit the plug 509. It is appreciated that when the handling unit is pushed into the cabinet, the end face 514′ of the housing 514 will more than likely abut the end face 509′ of the plug 509, as in most cases the plug 509 is not aligned with the socket 516. However, when the motor 512 (fixedly attached to the cabinet or the cabinet framework or stays) starts to operate, the housing 511 with the plug 509 pushed into the housing 511 starts to rotate until the plug is aligned with the socket 516, at which moment the plug 509 will pop out from the housing 511 and into the socket 516, whereby mechanical coupling is established between the motor 512 and the handling unit.
Patent CitationsCited PatentFiling datePublication dateApplicantTitleUS4054196Feb 2, 1976Oct 18, 1977The Firm Of Eugen SchaufeleApparatus for receiving and storing empty bottlesUS4412608Jul 31, 1981Nov 1, 1983Kaspar Wire Works, Inc.Coin dispensing machine for non-ferrous beverage cansUS4469212Apr 20, 1982Sep 4, 1984Environmental Products CorporationContainer collection apparatus with piston-actuated crusherUS5624018Nov 28, 1995Apr 29, 1997Schuff; David A.Aluminum can recycling and coupon dispenser apparatusUS5788045Dec 7, 1994Aug 4, 1998Trautwein Sb-Technik GmbhEmpty bottle collectorUS5790247Sep 26, 1996Aug 4, 1998Photon Dynamics, Inc.Technique for determining defect positions in three dimensions in a transparent structureUS6012588Jul 10, 1997Jan 11, 2000Tomra Systems AsaDevice for a conveyor meansUS6137900Jul 10, 1997Oct 24, 2000Tomra Systems AsaMethod and device for detecting liquid containersUS6783068Sep 20, 2002Aug 31, 2004Accu-Sort Systems, Inc.Large depth of field line scan cameraUS7596311 *Jul 18, 2007Sep 29, 2009Tomra Systems AsaMeans in a reverse vending machine (RVM) for receiving, handling, sorting and storing returnable items or objectsUS20030141167Aug 1, 2001Jul 31, 2003Kristian HolmenSorting device for containersDE10061462A1Dec 8, 2000Jun 27, 2002Prokent AgAutomatic empty bottle recycling device has all functional components provided at rear of door fitted across front of recycling device housingDE10258069A1Dec 11, 2002May 27, 2004Hans-Hermann Trautwein Sb-Technik GmbhEmpty container returning device, especially for single use, deposit bearing glass or plastic drinks bottles or tins, has a modular input section with a modular transport path for reliable movement of containers to receiving areasDE10348009A1Oct 15, 2003May 19, 2005Gabor JakabRecycling automat employs sensors to recognize the recycled goods and sort them and convey them to the correct locationGB791049A Title not availableGB875577A Title not availableWO1995012182A1Oct 26, 1994May 4, 1995Henning BergsagelGrading device for a return machine for empty containersWO1998002255A1Jul 10, 1997Jan 22, 1998Kroghrud HelgeSorting device for a reverse vending apparatusWO1999030292A1Nov 24, 1998Jun 17, 1999Geir SaetherA device for handling empty beverage containers* Cited by examinerNon-Patent CitationsReference1International Search Report for PCT/NO2006/000029, dated Apr. 10, 2007.Classifications U.S. Classification396/429, 348/127International ClassificationG03B17/48, H04N7/18Cooperative ClassificationY10S209/93, G01N21/8806, Y10S209/919, G07F7/0609European ClassificationG07F7/06B, G01N21/88KRotateOriginal ImageGoogle Home - Sitemap - USPTO Bulk Downloads - Privacy Policy - Terms of Service - About Google Patents - Send FeedbackData provided by IFI CLAIMS Patent Services©2012 Google