Abstract:
An automated self propelled refuse container travels from a parking or storage location to a refuse discharge location and return in response to a control unit cooperating with a tracking unit to control the direction of travel. Power is provided by an electric motor associated with each of two driving wheels rotating at the same rate and a third steering wheel provides stability and control over the direction of travel. The two driving wheels may rotate at a constant rate for straight line travel or charge direction, respectively, and a castering wheel provides stability and accommodates the direction of travel. Alternatively, a single wheel can provide both motive power and steering capability under control of a control unit responsive to the tracking unit and a pair of free wheeling wheels provide stability.

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
       [0001]    The present application is related to a provisional patent application entitled “Automated Trash Can” filed Nov. 2, 2005 and assigned Ser. No. 60/732,872 and describing an invention invented by the present inventor. 
     
    
     BACKGROUND OF THE INVENTION 
       [0002]    1. Field of the Invention 
         [0003]    The present invention relates to rollout refuse containers that travel automatically from a parking location to a curb for mechanical pick up and emptying by a garbage truck and return empty to the parking location. 
         [0004]    2. Description of Related Prior Art 
         [0005]    Conventional and widely used waste or refuse containers are of a molded plastic material having a hinged lid and four to five feet tall. Such a container includes a pair of wheels at the back side beneath a bar useable to pull the container by rolling it along the ground. Upon righting the container, the bottom edge of the front side rests on the ground and provides sufficient frictional contact with the ground to prevent rolling except on relatively steep inclines. 
         [0006]    Presently, these refuse containers are usually parked at the end of a driveway adjacent a residence or behind a fence or wall to avoid visibility from the street. Once or twice a week, a garbage truck comes by the curb end of the driveway of the residence to mechanically pick up, lift and empty the contents of a refuse container into a bin of the garbage truck. Thereafter, the empty container is set on the ground adjacent the curb. The garbage truck includes a pair of curved arms that open to grip the refuse container therewithin and thereafter close to engage the container with sufficient force to automatically lift the refuse container and turn the refuse container upside down above the bin to cause the refuse to fall out of the refuse container into the bin. Thereafter, the pair of arms rotate the refuse container to an upright position and set it on the ground by the curb. 
         [0007]    The refuse container has to be delivered to the curb, usually along a driveway. If the driveway is essentially horizontal, the force required to do so, even with a filled refuse container is manageable by most people. However, those with physical handicaps or of limited strength may have great difficulty in moving a filled refuse container to the curb and bringing back the emptied refuse container. If the driveway is inclined, the difficulty of moving the refuse container is exacerbated. If the driveway is inclined downwardly toward the curb, it requires a significant amount of strength to keep the refuse container from rolling too fast and going out of control. To pull an emptied refuse container up a driveway may create difficulty. 
         [0008]    Various automated refuse containers cooperating with special purpose refuse collection vehicles have been developed. However, such systems are generally not of commercial merit as the refuse containers are non standard compared to the types of refuse containers presently widely used throughout the country in combination with refuse collection trucks having specifically configured gripping arms and mechanisms for lifting, emptying and returning the refuse containers to the curb. 
       SUMMARY OF THE INVENTION 
       [0009]    A rollout refuse container includes motive means for driving and steering a third wheel to permit locomotion of the refuse container along the ground. A tracking unit, which may be based upon any of several types of tracking systems, provides guidance for travel of the refuse container from a parking location to a location for pick up by a refuse collection truck and return to the parking location. Alternatively, a swiveling third wheel may be incorporated and a pair of driving wheels are independently actuated to provide both locomotion and steering by modifying the rate of rotation of one driving wheel with respect to the other. A further embodiment may incorporate a pair of driving tracks on opposed sides of the refuse container to provide locomotion and steering by differential speed of the driving tracks. To assist a three wheeled refuse container to traverse soft ground, the wheels may be wide or incorporate balloon tires to increase the footprint of each wheel and thereby reduce the possibility of the refuse container becoming mired. 
         [0010]    It is therefore a primary object of the present invention to provide an automated self propelled refuse container capable of independent travel from a parking location to a location for pick up by a refuse collection truck and return to the parking location. 
         [0011]    Another object of the present invention is to provide motive means and tracking means useable in conjunction with conventional refuse container to automate travel and tracking of such a refuse container. 
         [0012]    Yet another object of the present invention is to provide a low cost self propelled automated refuse container by modifying an existing widely used refuse container to incorporate a drive mechanism and a tracking system. 
         [0013]    Yet a further object of the present invention is to provide a parking station for use in conjunction with an automated self propelled refuse container to store the refuse container while it is being filled. 
         [0014]    A further object of the present invention is to provide a parking station for an electric powered refuse container that provides the capability for automatic charging of the battery. 
         [0015]    A still further object of the present invention is to provide apparatus that may be retrofitted in a conventional refuse container to provide motive and tracking means for the refuse container. 
         [0016]    A yet further object of the present invention is to provide a method for automatically transporting a refuse container from a parking location to a refuse pick up location and return. 
         [0017]    These and other objects of the present invention will become apparent to those skilled in the art as the description thereof proceeds. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0018]    The present invention will be described with greater specificity and clarity with reference to the following drawings, in which: 
           [0019]      FIG. 1  is a perspective view of a conventional refuse container modified to incorporate the present invention; 
           [0020]      FIG. 2  is a cross sectional view of the refuse container shown in  FIG. 1  and illustrating the power, tracking and control systems incorporated therein; 
           [0021]      FIG. 3  is a detailed view of the steering wheel and related control systems; 
           [0022]      FIGS. 4A ,  4 B and  4 C illustrate representative apparatus for teaching the control system shown in  FIG. 3  the path to be taken by the refuse container; 
           [0023]      FIG. 5  illustrates the rear view of an alternative embodiment of the motive and steering mechanism for the refuse container; 
           [0024]      FIG. 6  is a cross sectional view illustrating the motive means for transporting the refuse container shown in  FIG. 7 ; 
           [0025]      FIG. 7  illustrates a refuse container having track wheels; 
           [0026]      FIG. 8  illustrates the refuse container mounted upon balloon tires; 
           [0027]      FIG. 9  is a flow diagram the control systems for the refuse container; 
           [0028]      FIG. 10  illustrates a parking station for the refuse container; 
           [0029]      FIG. 11  is a top view of the parking station; 
           [0030]      FIG. 12  is a side elevational view of the parking station; 
           [0031]      FIG. 13  is a front elevational view of the parking station; 
           [0032]      FIG. 14  illustrates representative control systems in the refuse container and in the parking station; 
           [0033]      FIG. 15  is a flow diagram illustrating control systems attendant the parking station; 
           [0034]      FIG. 16  illustrates a side view of the cart embodying the present invention for transporting a refuse container; and 
           [0035]      FIG. 17  is a rear view of the cart and refuse container shown in  FIG. 16 . 
       
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENT 
       [0036]    Referring to  FIG. 1 , there is shown rollout a refuse container  10  which is essentially of the conventional type that is widely used with garbage trucks having apparatus for lifting, emptying and lowering the refuse container. More particularly, the garbage trucks have a pair of curved arms which are actuated to grip refuse container  10  below shoulders  12 ,  14  and  16  and a further shoulder like shoulder  16  at the diametrically opposed side from shoulder  14 . Front  18  of the refuse container faces the garbage truck upon engagement by the curved arms. The pair of curved arms close to grip the container and are then raised along a track. The track has a curve toward the bin of a garbage truck such that the refuse container is caused to rotate to a point close to vertical. Upon such rotation, lid  20  of the refuse container pivots about a hinge at the rear to expose the upper opening of the refuse container and permit the refuse to slide out of the refuse container and into the bin of the garbage truck. Thereafter, the pair of arms reverse course along the track to deposit the refuse container on the ground. The arms are expanded laterally to release the refuse container and are withdrawn to permit forward motion of the garbage truck without any contact of the refuse container. At most localities, a home owner or occupant of a residence must transport refuse container  10  to the curb to render it accessible to the garbage truck. After emptying, the refuse container must be retrieved and brought to its normal parking place, usually at the end of a driveway by a residence. 
         [0037]    Usually, the refuse container must be pushed or pulled to the curb either the night before or early in the morning of the day of garbage pick up. Thereafter, the refuse container must be transported from the curb and returned to its parking or storage location. For some residents who are not physically fit, to move the refuse container may be almost overwhelming. Should the driveway be inclined downwardly toward the curb, the movement of a heavily loaded refuse container may be difficult to control. Moreover, to draw the refuse container up to its storage location, even though empty, may be a difficult physical task. It is the function and purpose of the present invention to permit automatic transport of the refuse container to and from the curb to alleviate the strain and potential injury that may result from manually transporting the refuse container. 
         [0038]    As shown in  FIG. 1 , refuse container  10  includes a bar or handle  22  for manipulating the refuse container. A pair of wheels, of which wheel  24  is shown, permit rolling of the refuse container after it has been tilted by gripping handle  22 . A conventional refuse container does not include third wheel  26 , as illustrated in  FIG. 1 . Instead, bottom  28  at the front of the refuse container rests upon the ground. The purpose of wheel  26  is to provide a three point rolling support for the refuse container. The direction of movement is controlled by pivoting wheel  26  to cause the refuse container to move left, right, forward or backward. 
         [0039]    Referring jointly to  FIGS. 2 and 3 , the function and operation of wheel  26  will be described, assuming that wheels  24 ,  25  are the driving wheels. A compartment  30  is formed above wheel  26  to house various elements attendant operation of the wheel. This compartment may be formed by a wall  32  extending interiorly of wall  34  conventionally formed as part of front  18  of the refuse container. A steering motor  40  is mechanically coupled with fork  42  supporting wheel  26 , which motor is attached to and supported by flange  44  of sliding member  46 . Upon actuation of the steering motor, wheel  26  will be caused to pivot. A jack screw mechanism  50  includes a motor  52  secured with flange  54  of sliding member  46 . A jack screw  56  engages jack nut  58 . A frame  60  is secured to front  18  of refuse container  10  by mounting elements  62 ,  64 , each of which elements may include a conventional nut and washer to secure the frame to the front of the refuse container. Upon activation of motor  52  of jack screw mechanism  50 , jack screw  56  will rotate in threaded engagement with jack nut  58 . This will cause sliding member  46  to move upwardly and thereby retract wheel  26  to a location above the bottom of the refuse container. With such retraction, the refuse container will not roll due to the friction between its bottom and the ground. Moreover, when wheel  26  is retracted, it will not be damaged during raising of the refuse container off the ground or placing the refuse container on the ground by the lifting arms of the garbage truck. 
         [0040]    A control unit  66 , which may include a processor and various circuitry subject to input signals will control operation of steering motor  40  and jack screw mechanism  50 . 
         [0041]    Referring jointly to  FIGS. 5 and 6 , motive means for transporting refuse container  10  will be described in further detail. Each of wheels  24 ,  25  is mounted upon axles  72 ,  74  of power unit  70 . An electric motor  76  includes an output shaft  78  that may be mounted in bearings  80 ,  82  and extend into a gear box  84 . An output gear of the gear box causes rotation of shaft  72  supporting wheel  24 , which shaft may be journaled in bearings  86 ,  88 . It is to be understood that motor  76  may be caused to rotate in either direction with commensurate rotation of wheel  24  mounted on shaft  72 . A further motor  90  causes rotation of output shaft  92  journaled in bearings  94 ,  96 . The output shaft is connected to a gear box  98  having an output gear for driving shaft  74  supporting wheel  25 . As illustrated, the shaft is mounted within bearings  100 ,  102 . Motor  90  is capable of rotating in either direction to provide a commensurate direction of rotation of shaft  74  and wheel  25  attached thereto. A control unit  104  for controlling operation of motors  76 ,  90  may be mounted within space  106  intermediate the motors. The motors, gear boxes and related equipment may be mounted within a cylinder  108  secured to refuse container  10  to locate wheels  24 ,  25  at the conventional locations. As shown in  FIGS. 2 and 5 , one or more batteries  110  for motors  76 ,  90  may be located within a compartment  112  depending from the bottom of refuse container  10 . 
         [0042]    As shown in  FIG. 2 , lid  20  may be manually operated in the conventional manner. Alternatively, it may be automated by an actuator  120  mounted within compartment  122  at the rear of refuse container  10 . Actuator  120  includes a plunger  130  in operative engagement with bar  124  to exert an upward force upon the bar and cause raising of the lid. In such event, lid  20  is pivotally attached by a bar  124  engaging a pivot  126  supported by a brace  128  attached to the refuse container. Actuator  120  may be hydraulically or electrically actuated. Control of the actuator may be through a control unit, such as control unit  66  (see  FIG. 3 ), for example. Upon energization of actuator  120 , lid  20  will be raised and lowered on command. 
         [0043]    As depicted in  FIG. 3 , wheel  26  may be a driving wheel which permits elimination of power unit  70  driving rear wheels  24 ,  25 . A wheel motor  140  is in operative engagement with wheel  26  to cause the wheel to rotate on command in either direction. Electrical power for wheel motor  140 , as well as for steering motor  40  and jack screw mechanism  50 , may be provided by a battery  142 . Control of these three motors can be effected by control unit  66 . 
         [0044]      FIG. 7  illustrates a refuse container  10  having a pair of tracks  144  disposed on each side. These tracks provide traction over very soft ground, loose rocks and particularly snow. The tracks will also climb irregular terrain (such as drop off at the end of a driveway) better than the wheeled version illustrated in  FIG. 1 . Additionally, by operating at different speeds, turning movement of the refuse container is achieved. It is to be understood that operation of the two tracks is controlled by a control unit working in tandem with a tracking unit to be described. 
         [0045]      FIG. 8  illustrates a refuse container  10  having wide wheels  146 ,  148  to accommodate soft ground and to prevent the wheels from becoming mired in either mud or snow. 
         [0046]    To permit automated transport of the container between its storage location and the curb, a guidance system is necessary. Such guidance system may take any one of several forms. A global positioning system (GPS) may be employed. However, the resolution available from such a system may not be sufficiently fine to permit accurate positioning of the refuse container at the storage location and at the curb. To improve accuracy of the track followed by the refuse container, a magnetic strip placed along the desired track may be used. Such a strip would be sensed by a sensor on the refuse container to control the direction of travel both to and from the storage location. At locations wherein the track is unlikely to be covered by snow, a stripe may be painted along the track and light sensors on the refuse container would detect the stripe of paint and provide input signals to the control unit to maintain travel along the stripe. An electrically energized wire placed on the ground commensurate with the desired track or buried in the ground can be used to guide the travel of the refuse container. The electrical field generated by such wire can be sensed and provide the requisite control signals to the control unit to guide the travel of the refuse container. 
         [0047]    Referring to  FIGS. 4A ,  4 B and  4 C, there is shown a further guidance system similar to a dead reckoning system. The purpose of this system is to manually transport the refuse container along the desired track to manually control the speed, direction of travel and change in direction of travel commensurate with the desired track and recording such movement in a memory of the control unit. This may be accomplished by attaching a handle  150  to fork  42  pivotally extending from a representatively illustrated housing  152 , which, in fact, corresponds with front  18  of refuse container  10 . As shown in  FIG. 4B , after attachment of handle  150 , the refuse container would be transported along the intended path. As wheel  26  rotates, a signal would be generated by motor  140  reflective of the speed of rotation. Data attendant such signal would be stored in a memory of the control unit. Similarly, any rotation of fork  42  would produce rotation of the armature of motor  40  (see  FIG. 2 ) and generate a signal. This signal would also be stored in the memory of a control unit. To initiate this “teaching” of the path to be followed by the refuse container, a button  154  or other switch would first be actuated. After such manual transport of refuse container  10 , the path from a storage location of the refuse container to the curb and return would be recorded in the memory of the control unit. Thereafter, upon actuation of the automated system, the trash container would travel in the path “taught” at a predetermined speed. After arrival at the curb, wheel  26  would be retracted. Retraction of wheel  26  prior to engagement of the refuse container by the arms of the garbage truck would terminate control inputs to motivate the refuse container. Upon subsequent extension of wheel  26  after the refuse container was placed on the ground by the arms of the garbage truck, the control system would cause the refuse container to return to its storage location. 
         [0048]    Various ancillary sensors may be incorporated for safety or other reasons. For example, a proximity sensor may be used to prevent damage by contact of an immobile or mobile element/person. To prevent inadvertent spillage of refuse by the refuse container tilting, a tilt sensor may be incorporated. Various optical apparatus may be used as a sensor to prevent collision with a object or person. By suitable programming, such optical apparatus may even be used to control the direction of travel and rate of travel of the refuse container. 
         [0049]    Referring to  FIG. 9 , there is shown a block diagram of various controls that may be incorporated and their respective functions. Necessarily, certain of these controls require hardware in the form of sensors, switches of various sorts and various further components for generating signals in response to certain inputs. As the flow diagram is self explanatory, recapitulation of the various elements need not be recited. However, it may be beneficial to point out that refuse container  10  may include a panic button  160 , as illustrated in  FIGS. 1 and 9 , to immediately terminate movement. 
         [0050]    As illustrated in  FIG. 9 , any or all of numerous sensors, controls and actuators may be incorporated in the control unit of the refuse container or as several interconnected modules. An input/output module  162  may include primary controls for operation of the refuse container, as represented by keyboard input  164 . Various other features, as illustrated, may be incorporated therein. A processor module  166  includes a central processor unit  168 , generally referred to as a microprocessor, for controlling operation related to activation and movement of the refuse container. A sensor module  170  may include any or all of a plurality of sensors identified in  FIG. 9 . Certain of these sensors are related to and a function of the tracking unit incorporated with the refuse container to control travel of the refuse container. In particular, the tracking unit may incorporate any of global position sensor  172 , electronic compass direction sensor  174 , vision camera  176 , ultra sonic sensor  178 , radio tag sensor  180 , and path following sensor  182 . It is to be understood that the ground across which the refuse container is to travel from its storage location to the location of discharge of refuse and return may be denoted by a length of wire to be sensed, whether or not it is electrically charged, a plurality of magnets or magnetic strip to be sensed or other path denoting element that is readily sensed to control the direction of travel of the refuse container. Alternatively, a global positioning unit programmed to control travel of the refuse container in accordance with a preset path may be used. A system of dead reckoning preset in the microprocessor may be incorporated. It is to be understood that the various other tracking units may be embodied with the invention. 
         [0051]    Depending upon which embodiment of driving wheels and steering wheels are embodied in the refuse container, different control modules would be activated. Control module  184  would be activated to control operation of the left motor  76  (see  FIG. 6 ) and control module  186  would be activated to control the right motor  90  (see  FIG. 6 ) in the case where the pair of wheels at the rear of refuse container  10  are the driving wheels. In the event wheel  26  at the front of the refuse module is both the driving wheel and the steering wheel (see  FIG. 3 ), control module  188  would be actuated. Tilt actuator module  190  is actuated to raise and lower wheel  26  at the front of the refuse container to avoid damage thereto during the process of having the refuse container raised and lowered by the garbage truck. If lid  20  is to be raised and lowered on command, lid actuator module  192  would be incorporated. Power for operating the driving wheels, the steering wheel and the control unit, including the tracking unit, is provided by power module  194 . It includes not only one or more batteries to provide a source of electrical power but also the capability for effecting charging of the battery, preferably at the storage location. Under certain circumstances, it may be beneficial to provide the capability for wireless communication with the control unit of the refuse container. Wireless communication module  196  provides this capability. It is to be understood that such wireless communication may be unmanned and self regulating between the refuse container and a fixed location to control travel and other operations of the refuse container. As indicated, a power bus  198  interconnects power control module  194  with each of the other modules to provide electrical power as required. Communication bus  200  interconnects main processor module  166  with each of the remaining modules to control their respective operations. 
         [0052]    Referring jointly to  FIGS. 10 ,  11 ,  12  and  13 , there is shown a parking station  220  equivalent to the above-discussed storage location. The parking station includes a platform  222  for supporting refuse container  10 . Side rails  224 ,  226  may extend from the platform to guide entry of the refuse container. Platform  222  may include non-skid surfaces  228 ,  230  to insure traction of the drive wheels located at the rear of refuse container  10 . In the event wheel  26  at the front of the refuse container is the driving wheel, a further non-skid surface would be incorporated for engagement by this wheel. If the charging unit for the battery(ies) embodied in the refuse container is mounted at the bottom of the refuse container, an induction charger interface  232  may be located upon platform  222  to effect charging of the battery(ies). A module  234  may be located at the rear of parking station  220  to house the various components attendant the refuse container. A keypad/display module  236  may be mounted on a stanchion  238  extending from module  236 . It will provide means for controlling operation of the parking station and to provide visual cues of various functions to be performed and being performed. A power cord  240  may be used to interconnect module  234  with a source of power. Additionally, a cord  242  may be used to interconnect module  234  and the equipment therein with the internet or with a telephone wire. 
         [0053]    In summary, parking station  220  provides the capability of maintaining the batteries within the refuse container fully charged and provides the capability for controlling operation and travel of the refuse container in accordance with a preset pattern. Additionally, it can provide an indication of the status of various components and the capability for interconnecting the control unit of the refuse container with a remote location. 
         [0054]      FIG. 14  illustrates in block diagram the functional relationship between the parking station  220  (see  FIG. 10 ) and the refuse container  10 . As illustrated within block  250 , various modules and sensors for determining operation of certain components in the refuse container are recited. Block  252  depicts various functions that may be incorporated in the docking station with the control unit of the refuse container. Communication therebetween may be provided by wireless communications, as reflected by antennae  254 ,  256 , respectively. 
         [0055]      FIG. 15  is a further block diagram illustrating various modules that may be incorporated in parking station  220 . In particular, block  260  represents certain functions that may be performable by keypad/display module  236  (see  FIG. 11 ). Wireless module  262  includes several components, as listed, for communicating with the refuse container. Various sensors may be incorporated, as depicted in sensor module  264 . Power module  266  includes various components relating to charging and maintenance of the battery(ies) embodied within the refuse container. As depicted, it may include a connector for charging by a solar panel and various other functions. Operation of these modules is controlled by processor module  268 , which may be in the form of a microprocessor, as represented by a central processor unit  270 . The processor module is interconnected with the remaining modules through a communication bus, as represented by the solid lines. Additionally, a power bus, represented by triple lines, provides power to the modules. 
         [0056]    Referring jointly to  FIGS. 16 and 17 , there is shown a variant of the present invention. In particular, there is shown a refuse container  280  supported upon a cart  282 . The purpose of the cart is to transport the refuse container from a storage location to a location for discharge of the contents of the refuse container and to return the refuse container to the storage location. All of the motive power units, steering units, tracking unit and various control systems are embodied in and mounted upon cart  282 . Thereby, any configuration of refuse container may be used to achieve the desired result of a self propelled automated refuse container to alleviate the burden of manually transporting the refuse container to and from a refuse discharge location. 
         [0057]    Cart  282  includes a pair of drive wheels  284 ,  286  receiving power from electric motors  288 ,  290 , respectively. A front wheel or pair of front wheels  292  are of the castering type. By having wheels  284 ,  286  be the driving wheels and controlling their respective rate of rotation will provide the capability to bring about a change of direction of the cart and castering wheel(s)  292  will accommodate such change of direction. A module  294  includes a control unit for the cart, including a microprocessor, and one or more batteries to provide the requisite electrical power to electric motors  288 ,  290 . Interconnection between electric motors  288 ,  290  and module  294  may be effected by conductors  289 ,  291 . Additionally, it may include a charging circuit energized by a power cord  296  connected to an electrical outlet at the storage location. The front of cart  282  may include a module  298  for containing various sensors to effect tracking. That is, the module may embody a tracking unit to guide the cart to and from the storage location. Depending upon the particular system used for achieving tracking by the cart, module  298  may be mounted at the bottom of the cart to sense an in ground wire, magnetic strip, lighted strand, painted stripe or the like. Other tracking units, as described above, may also be incorporated to control the travel of the cart.