Patent Description:
There are known types of garbage trucks which integrate systems for measuring the weight of garbage containers being picked up by the garbage truck. Weighing a garbage container serves the purpose of measuring or estimating the weight of the garbage in the container, as is often required by the authorities and/or the regulations or norms related to the garbage collection process. It is also known that there exist several types of garbage containers which differ from each other by their physical features which allow for the garbage container in each case to be picked up, i.e. be held and raised, by a garbage truck. In some known examples, such features of said garbage containers include the garbage container having a particular shape for fitting a collection mechanism of the garbage truck, or include the garbage truck having at its surface other features such as protrusions, recessions or other metallic or plastic parts, so that said features can be coupled to corresponding parts of the pick-up (lifting) mechanism of a garbage truck. Said garbage container's features which define the way by which the garbage truck can pick up the garbage container define the pick-up type of the garbage container. This means that the garbage container may also be of two or more pick-up (pick up) types, i.e. the container may comprise features which may allow the pick-up of the container by two or more, respectively, types of lifting mechanisms. Nevertheless, each of the previously known garbage trucks which have a lifting mechanism which is capable of weighing, is able to pick up only one pick-up type of garbage containers. This is an important problem considering that a garbage truck may have to operate inside or between different areas which have garbage containers of different pickup (pick-up) types. Moreover, given that in the aforementioned previously known types of garbage trucks, the respective systems which pick up and weigh the containers are permanently integrated in the truck's structure, it is not easy adapt said trucks when there is need of changing the pick-up type of the containers that need to be processed, and this is an important problem. In addition, given that said trucks in the prior art are only suitable for handling and weighing containers of a single pick-up type, they are prone to becoming completely inoperable when the lifting and weighing mechanism of the truck is damaged such that it can no longer handle a container of said single pickup type, and this is an important problem. Relevant prior art documents are <CIT> and <CIT>. The present disclosure solves the aforementioned important problems.

The present disclosure solves the aforementioned problems because it offers a system which simultaneously, i) is capable of weighing and picking up two pickup (pick-up) types of garbage containers; ii) it may be used with existing garbage trucks for allowing said trucks to weighing garbage containers of different pick-up types; iii) it may improve the operability and reliability of the garbage truck so that it can still be operable, at least to some extent, when due to a damage of the system it cannot be operated with containers of one pickup type. Solving said problems may in turn reduce the costs associated with the garbage collection process involving said system, improve the procedural efficiency and reduce the time required for the garbage collection process, and positively impact the environment, at least due to the improved functionality that the system confers to the garbage trucks with which the system is used.

Specifically, the present invention in its first aspect concerns a system which is installable on a garbage truck for weighing a plurality of garbage container types, and comprises: an arm configured for supporting a garbage container of a plurality of types; a pick-up device located at an end of the arm and configured to engage and hold a trunnion of a garbage container of a first pickup type; a pick-up comb configured to engage and hold a lip of a garbage container of a second pick-up type; at least two load cells of which a first one is connected to the pick-up device and the second one is connected to the pick-up comb, wherein the first load cell is configured to measure a weight exerted on the pick-up device when the latter engages the garbage container of the first pickup type, and the second load cell is configured to measure a weight exerted on the pick-up comb when the latter engages the garbage container of the second pickup type; at least one motion sensor configured to record movement related to a collection of the garbage container of the first or second pickup type by the system; at least one inclination sensor configured to sense an inclination of a garbage truck when the system is installed on the garbage truck; and at least one electronic device configured to process and transmit data. The pick-up comb is attached either along the arm or at another end of the arm opposite the end where the pick-up device is located. It is noted that the pickup device may also be called trunnion adapter, and the pick-up comb may also be called comb lifting device or comb.

Advantageously, the invention can provide excellent weighing accuracy, as it can be adapted to the point of contact with the garbage, as a result of which it is possible to avoid adding to the measurements the weight of the rest of the collection mechanism of the truck, and also, the system allows for preferably using load cells with a relatively small measurement range, increasing the accuracy and resolution of the measurement.

The aforementioned system can advantageously be used with a garbage container of the first or of the second pickup type. Likewise, it can be used with a garbage container which comprises both the aforementioned lip and trunnion and, hence, is both of the first and second pickup type. The load cells of the system generally allow for measuring the weight of the garbage container, and hence, for estimating the weight of the garbage (trash) which is contained in the garbage container. Evidently, this functionality is available regardless of whether the garbage container is engaged using the pick-up device or the pick-up (pickup) comb, and therefore, said functionality is not compromised when having to switch between using the pick-up device and the pick-up (pickup) comb. The measurements offered by the motion sensor and the inclination sensor may be used for monitoring the pickup process, in particular the action of turning over the garbage container as is usually done during pickup depending on the types of said garbage container and truck. Also, said motion and inclination (tilt) measurements may be used for enabling or improving the accuracy of the weight measurements because the latter may depend on factors such as the inclination of the vehicle relatively to the ground, the position or inclination of the garbage container at the time of the measurement, the potential movement of the garbage inside the container during the handling of the container by the garbage truck, or another factor. Said factors may be taken into account by using appropriate algorithms which in some preferred embodiments of the invention are processed using the electronic device. Hence, in some preferred embodiments the at least one electronic device is operationally connected to at least a corresponding one of each of the at least one motion sensor, the at least two load cells, and the at least one inclination sensor. Although in said preferred embodiments the electronic device is operationally connected to the sensors and includes a logic that provides the measured of estimated weights, the skilled person may understand that the data related to said measurements may be processed in another controller or logic, and then passed to the aforementioned electronic device, in which case, the electronic device primarily serves its important functionality of transmitting the data. The data may most preferably relate to the measurements from the sensors or may be or include other type of data related to the operation of the system. In either case, the transmission of the data, preferably said transmission being a wireless one, may allow for the system's user(s) to gather and further process said data.

In an embodiment according to the first aspect of the invention, the system further comprises a third load cell connected to the pick-up comb, wherein the third load cell is configured to measure a weight exerted on the pick-up comb when the latter engages the garbage container of the second pickup type, the third load cell being at a distance from the second load cell such that the second and the third load cells can measure a load distribution along the pick-up comb. Measuring the load distribution along the pick-up comb may improve the accuracy of the weight measurement, especially when the garbage is unevenly distributed within the garbage container.

In an embodiment which is according to the first aspect of the invention, the system further comprises a bar which is located and configured to contact and push the garbage container of the first or second pickup type at a point of the container, such that, when the garbage container is at an operational position on a ground and is engaged by the pick-up device or the pick-up comb, said point of the container contacting the bar is located lower with respect to the points of contact of the container with said pick-up device or pick-up comb, respectively. Said bar can be called pushing pad, and is useful for turning over the container during the garbage collection process, because it may push said container from the container's part that is initially closer to the ground. Preferably, the system further comprises an additional load cell connected to the bar and configured to measure a weight exerted on the bar when the latter pushes the garbage container. Hence, when possibly turning over the container using the system, the load cell at the bar can aid monitoring the process which causes the weight distribution in the container to change. Likewise, the skilled part can understand that there may be more than one additional load cells connected to the bar at different points along the bar's length.

In an embodiment according to the first aspect of the invention, the system further comprises two or more load cell distortion limiters, and each load cell is connected to a corresponding one of the load cell distortion limiters, each load cell distortion limiter supporting and being configured to limit the distortion of the corresponding load cell when said distortion is above a threshold value. The distortion limiter generally serves the purpose of avoiding, preventing or simply reducing the possibility of damaging the load cell to which the distortion limiter is connected. The threshold value is usually provided by the manufacturer of the load cell and/or of the load cell distortion limiter. The load cell distortion limiter is also known as "overload protection" which is a term often used by manufacturers of load cells which are often coupled and being provided with some type of overload protection.

In a preferred embodiment wherein the system comprises the aforementioned distortion limiters, each load cell distortion limiter which is connected to a corresponding one of the load cells, is also correspondingly connected to the pick-up device or the pick-up comb or the aforementioned optionally present bar (pushing pad) to which said corresponding load cell may be connected. In these cases, the distortion limiter may more preferably be configured to support the pick-up device, the pick-up comb or the bar if the corresponding load cell is damaged or broken. This may advantageously allow the system to continue be in operation for collecting the garbage, even if one or more of the load cells are broken. Hence, in the event the capacity of the system to measure the weight is temporarily compromised due to the damaging of a load cell, advantageously the system would continue be, at least to some extent, operational.

In an embodiment, the system's at least one motion sensor comprises any of an inertial measurement unit, an accelerometer, a gyroscope, an inclinometer, a magnetometer, or another type of sensor. Most preferably the system comprises an inertial measurement unit which may comprise or act as the at least one motion sensor and the at least one inclinometer of the system. The use of the inertial measurement unit may advantageously offer accurate motion and tilt measurements, and may facilitate the fabrication of the system, and in particular, may facilitate the fabrication and integration in the system of the components related to the aforementioned motion and inclination measurements. Hence, in some particularly preferred embodiments, the at least one motion sensor comprises an inertial measurement unit, or the system comprises an inertial measurement unit (IMU) which comprises the motion and/or the inclination sensor. Likewise, the system may optionally comprise two or more IMUs, e.g. the system may have one IMU at the pick-up device, and a second IMU at the pick-up comb.

In some particularly preferred embodiments of the first aspect of the invention, the system further comprises one or more Radio-frequency identification (RFID) readers which is/are part of, or is/are operationally connected to, the at least one electronic device. Preferably the system comprises one RFID reader which is integrated with/in a tooth of the pick-up comb. In another embodiment the system comprises two RFID readers of which one is integrated with the tooth of the pick-up comb and the other is integrated with the arm. In other very preferred embodiments, the system comprises an RFID reader which is integrated with the pick-up comb or within a tooth of the pick-up comb, and comprises two antennas which are pointed (directed) towards two respective direction which are normal to each other. Most preferably, the first of said two antennas is directed towards a first direction that is towards a part of the garbage container when the pick-up comb engages the garbage container, and the second antenna is directed to a second direction that is normal or, more generally, forms a non-zero angle with the first direction, so that said second direction is towards said part of the garbage container when the latter is engaged by the pick-up device. It may be understood that the while the fist antenna is directed towards the container's lip that is engageable by the pick-up comb (the comb lifting device), the second antenna may be directed towards a different part of the container and serves to identify the container when the latter is engaged by the pickup device (the trunnion adapter). Preferably the garbage container's part(s) towards which said antennas are directed have RFID tag(s) for identifying the container.

In an embodiment according to the first aspect of the invention, the system's electronic device is connectable with, or comprises, preferably within a housing of the electronic device, any of an RFID reader for bin identification, means for identifying bins, means for GNSS satellite positioning, means for wireless communication (e.g. via a GSM system), means for interfacing with and downloading data from a tachograph, means for interfacing with and downloading data from a CAN bus (a Controller Area Nextwork), means for interfacing with and downloading data from an on-board diagnostics, an on board diagnostics (OBD) system, or a combination thereof. These optional features advantageously may allow or facilitate the connectivity of the system with some important data- and communication-related technologies for vehicles.

In an embodiment, the system further comprises one or more electronic units. Each electronic unit may comprise one or more of each of the at least one electronic device, the at least one inclination sensor and the at least one electronic device of the system. Hence, the electronic unit comprises at least a set of an inclination sensor, a motion sensor and an electronic device of the system. The components of the electronic unit are preferably within a case of said electronic unit, so that the latter is compact and can be installed as a whole on the pick-up device, or on the pick-up comb or elsewhere at the system. Also, preferably the aforementioned electronic unit further comprises an RFID reader which is part of, or is operationally connected to, the electronic device, and this RFID reader may be as described further above. Therefore, in a very preferred embodiment, the system comprises an electronic unit, and the latter also comprises an RFID reader which comprises two antennas. These two antennas may be directed towards different directions as described further above. Most preferably said electronic unit having the two antennas is (located) at a tooth of the pick-up comb. Hence, when the system comprises an electronic unit, the latter is preferably located at tooth of the pickup device. In some embodiments the system comprises two electronic units of which one is integrated with the pick-up comb, or the arm, or the pick-up device. Also, in an embodiment the at least one motion sensor includes an accelerometer and an inertial measurement unit.

In an embodiment, the pick-up comb is integrated with the arm. In another preferred embodiment, the pick-up comb is removably attached to the arm. In the latter case, it may be possible to form the system by providing a pick-up comb which comprises the system's sensors and electronic device, and attaching said pick-up comb to an arm which has at its end the pick-up device (trunnion adapter) and the first load cell. Said arm may be already installed to the garbage truck before attaching to it the pickup comb. Optionally the second load cell may be at a connection between the pick-up comb and the arm or maybe at an optionally present additional structure or frame which may be configured to support the pick-up comb and/or the arm. Said additional structure or frame may be an optional part of the pick-up comb.

In an embodiment, the system further comprises a base connected to the arm, the base and the pick-up device being at opposed ends of the arm, the base preferably comprising a pin and a bushing configured to enable a rotation of the arm. In some embodiments which comprise said base and also comprise the aforementioned optional additional structure or frame, the base is located at said additional structure or frame such that it allows that the arm can rotate or pivot about the base. This way the pick-up device attached to the rotatable arm may move closer to, or away from, the pick-up comb, depending on whether the system is to engage the garbage truck using the pick-up comb or the pick-up device, respectively. In another embodiment where the pick-up comb is attached along the arm, the latter and the pick-up comb are lengthwise substantially parallel to each other.

In an embodiment according to the first aspect of the invention, the system further comprising a proximity sensor. In an embodiment wherein the system comprises said optional proximity sensor, the latter is configured to detect a rotation, a closure or a retraction of the arm towards a garbage truck when the system is operationally installed on the garbage truck, preferably the proximity sensor being operationally connected to the electronic device. In an embodiment wherein the system comprises said optional proximity sensor, the latter is an inductive sensor. The proximity sensor may be very useful when the arm can pivot about a base, as for example is described further above, for detecting whether the arm is at a first position where the garbage container can be engaged by the trunnion adapter (the pick-up device), or is at second position where said container can be engaged by the pick-up comb. Additionally, or alternatively, said proximity sensor can be used for triggering the electronic device to stop or start using the load cells attached to the pick-up comb or the pick-up device for measuring the weight of the garbage container. In another preferred embodiment comprising a proximity sensor, the latter is configured to detect a locking of the garbage container by the system, said locking comprising the system applying a pressure on the garbage container, and the proximity sensor is further configured to trigger the electronic device to disregard or prevent weight measurements during said locking process. For the locking of the container, the system may optionally comprise a locking bar which during the collection process may press against the container so the latter does not fall off the system when and if the container is turned over for being emptied.

In a preferred embodiment according to the first aspect of the invention, the pick-up device comprises a trigger which is configured to be activated when the pickup device engages the trunnion, and to trigger the electronic device or the first load cell.

In an embodiment the electronic device of the system, or an electronic unit comprising said electronic device, is configured (e.g. is programmed) to measure a first weight of the garbage container during a lifting exercised on the container by the system installed on a collection mechanism of the truck and in operation, measure a second weight of the garbage container during a lowering exercised on the container by the system, and the electronic device is further configured to estimate a weight of a content of the garbage container as a difference between the first and the second weights. Hence, by knowing the first weight of the container when the latter is raised and before it is emptied in the truck, and by knowing the second weight of the container after the latter has been emptied, the weight of the garbage in the container can be estimated. Alternatively, the weight could be estimated from a single measurement, if the weight of the container itself (i.e. when is emptied) is known (e.g. registered) in advance.

A second aspect of the present invention concerns the use of the system of the first aspect, in a garbage collection process.

A third aspect of the present invention concerns a garbage truck comprising a system which is according to the first aspect of the invention.

In an embodiment of the garbage truck which is according to the third aspect of the invention, the truck comprises a lifting mechanism configured for lifting garbage containers, and the system is installed at, or is part of, said lifting mechanism.

In an embodiment which is according to the third aspect the system is installed at a rear of the garbage truck.

The following table <NUM> lists terms used herein for describing the features which are indicated with the respective numerical signs in <FIG>, and also lists some alternative technical terms which are also used for describing the same features.

Below follows a description referring to <FIG>. An embodiment of the system according to the invention is presented in <FIG>, <FIG> and <FIG>, while <FIG>, <FIG>, <FIG> and <FIG> further aid for understanding how the system can be used for picking up and weighing garbage containers.

<FIG> shows a system installable on a garbage truck for weighing a plurality of garbage container types <NUM>, <NUM>, the system comprising: an arm 10b configured for supporting a garbage container <NUM>, <NUM> of a plurality of types; a pick-up device <NUM> located at an end of the arm and configured to engage and hold a trunnion <NUM> of a garbage container of a first pickup type <NUM>; a pick-up comb <NUM> attached along the arm 10b, or at another end of the arm 10b opposite the end where the pick-up device is located, and configured to engage and hold a lip <NUM> of a garbage container of a second pickup type <NUM>; at least two load cells <NUM>, <NUM> of which a first one <NUM> is connected to the pick-up device <NUM> and the second one <NUM> is connected to the pick-up comb <NUM>, wherein the first load cell <NUM> is configured to measure a weight exerted on the pick-up device <NUM> when the latter engages the garbage container of the first pickup type <NUM>, and the second load cell <NUM> is configured to measure a weight exerted on the pick-up comb <NUM> when the latter engages the garbage container of the second pickup type <NUM>; at least one motion sensor (not shown) configured to record movement related to a collection of the garbage container of the first or second pickup type by the system; at least one inclination sensor (not shown) configured to sense an inclination of a garbage truck when the system is installed on the garbage truck; and at least one electronic device <NUM>(shown in <FIG> and <FIG> configured to process and transmit data. Preferably, the inclination sensor and the motion sensor are within the electronic device's <NUM> shown casing which, in that case, defines an electronic unit that comprises the electronic device, the motion sensor and the inclination (tilt) sensor.

Hence, the system shown in <FIG> can be used for weighing garbage containers <NUM> whose pickup point is the trunnion <NUM>. <FIG>, <FIG> and <FIG> show a process of lifting the garbage container <NUM>, wherein the container passes through different positions 28a, <NUM>, <NUM> as it is lifted and rotated by a truck's lifting/collection mechanism <NUM> to which the system is installed.

With reference to <FIG>, the arms 10b of a rear-loading garbage truck lifting system are held by means of a base bearing a pin <NUM> and bushings <NUM>, the bushings <NUM> allowing for the arm's 10b support and rotation. The system shown in <FIG> comprises the pick-up device <NUM>, a hook to secure the waste bins (garbage containers) in the system during collection, and a safety mechanism <NUM> of the pick-up device <NUM> which is activated during movement and advantageously aids locking the waste bin so that it remains in the lifting system throughout the collection process.

With reference to <FIG>, the pick-up device <NUM> is a mechanical system which comprises a trigger <NUM> so that it can touch the bucket throughout the lifting. The trigger <NUM> cooperates with a pivot pin <NUM> and a bearing with sealing rings <NUM> in order to transfer forces from the contact with the bucket to the first load cell <NUM>.

With respect to the embodiments of <FIG>, the force is transferred to the load cell <NUM> through load cell contact <NUM>. In the shown embodiment the placement of the load cell <NUM> is in such a preferred way as to advantageously always ensure a correct measurement of applied force. Also, with respect to the embodiments of <FIG>, an RFID reader <NUM> applied to a suitable point of the lifting system provides identification of the bin (garbage container), when the point of contact of the bin is the grab <NUM> of the pick-up arm 10b. With respect to <FIG>,<FIG>,<FIG>,<FIG> and <FIG>, the collection arm 10b can additionally carry on it the collection comb <NUM> (pick-up comb) which has the purpose of weighing bins whose point of contact with the lifting mechanism of the garbage truck is their lip <NUM> as the one shown in <FIG>. With respect to <FIG>, <FIG> and <FIG>, on the pick-up arm 10b there are mounted two comb load cells (second load cells) <NUM> with support screws <NUM> and on the other side the pick-up comb <NUM> which in turn is screwed with support screws <NUM> which are according to the specific specifications of the respective load cell manufacturer. With respect to <FIG>, <FIG> and <FIG>, the shown comb <NUM> includes three pick-up teeth <NUM> spaced to specifications to work with buckets (garbage containers) which are according to European or other specifications. The comb <NUM> additionally has a fourth tooth position specially designed to accept an RFID identification reader <NUM> to provide bin identification. Also, with respect to the embodiments shown in <FIG>, between the comb <NUM> and the arm 10b there is a system (means), which can be called load cell overload system or load cell distortion limiter <NUM>, for limiting the torsion or distortion of the load cells, which, due to its design, allows the system to be used without affecting it, and can, in conditions of excessive distortion due to the heavy weight which is outside the specifications of the load cells, to stop the load cells' distortion in order to prevent the possibility of their rupture. Hence, the system advantageously provides additional safety, for example in the event of rupture or destruction of the load cells the comb can remain in place, preventing accidents without interrupting the operation of the garbage collection. Due to the above design shown in <FIG>,<FIG>,<FIG>,<FIG> and <FIG>, the configuration for weighing (measurement of weight) on the comb <NUM> of the shown embodiments can act as an autonomous weighing system regardless of its position in the lifting system of the rear-loading garbage truck on which the system according to the first aspect of the invention can be installed. Moreover, the weighing on the comb <NUM> may work in parallel and independently of the weighing on the grab <NUM> of the harvesting arm 10b. It may be understood by the person skilled in the art, that the system according to the invention may be autonomous and independent from the lifting system <NUM> of the garbage truck, may have no common characteristics with existing weighing systems, and may be such that it can be placed in any rear loading lifting system.

With respect to the embodiment shown in <FIG>, as a further improvement, the system comprises also a lower push/rotate bar <NUM> which can push the container for turning it over during the collection process, and on the lower push/rotate bar <NUM> at one or more suitable points, there are installed and appropriately supported one or more additional load cells <NUM> with distortion limiter(s) <NUM>. With respect to the embodiments shown in <FIG>, at appropriate point of the system, there is installed an electronic data processing device <NUM>, which can also be called or be a part of an electronic unit. The electronic device <NUM> can include one or more sensors for recording the pickup movement consisting of an inertial unit, either an accelerometer, a gyroscope, an inclinometer, or a magnetometer, or another for the for this purpose sensor, inclination sensor of the rear loading garbage truck <NUM> and typically has a processor, storage memory, wireless communication system and power supply system. The readings of each comb load cell <NUM>, grab load cell <NUM>, lower push/swing bar load cell <NUM> and sensors included or connected to the electronic data processing device/unit <NUM>, may be taken together to measure the bucket weight and the weight of the contents of the bin. This data can be recorded, averaged and/or calculated in the data processing device (unit) <NUM> and sent wirelessly. As a further improvement of the invention, the electronic data processing and sending device <NUM> can be interconnected or include within its housing an RFID reader or other wireless or optical means of unique identification of the bins, satellite GNSS positioning, tachograph data reception and CAN bus data reception or OBD.

A preferred embodiment of a method for weighing using the system according to the invention, is as follows. For the accurate weighing of the container (bucket), there are performed a series of mechanical movements and measurements of sensors installed in/with the electronic data processing device <NUM>. In the preferred embodiment, the system according to a first aspect of the invention is automatically activated by placing the pickup center of gravity pin (trunnion) <NUM> of the bucket <NUM> on the aforementioned optional trigger <NUM> of the system, or placing the bucket lip <NUM> of the bucket <NUM> on the pickup comb <NUM> without the need for intervention of any operator or electronic switch. With the start of the lifting system, the electronic device or central unit <NUM> takes continuous weighing measurements (i.e. weight measurement) where at specific times and through the positions between the points A and B shown in <FIG>, and in relation to the position and the specific lifting angle, it gives the final highly accurate weighing result.

Advantageously the system's components can enable absolute measurement without interference from the rest of the mechanism of the waste lifting system. The combination of the arm 10b with the pick-up device <NUM> and the autonomous comb <NUM>, the pick-up device preferably comprising the trigger <NUM>, can enable accurate measurements when the system is in contact with the waste bin.

Below follows a description related to the embodiments shown in <FIG>. The following table <NUM> lists terms used herein for describing the features which are indicated with the respective numerical signs in <FIG>, and also lists some other alternative technical terms which are also used for describing the same features.

As shown <FIG>, a load cell arrangement is installed on the arm bases <NUM>. At the end of each arm <NUM> there is placed a pick-up device (gripper) <NUM> and through the gripper pin <NUM>, the gripper bushing <NUM> and the gripper washers <NUM>, which ensure good rotation of the gripper (pickup device) <NUM> without considerable resistance, the pick-up device can follow a circular motion and come into contact at an appropriate point through a load cell contact <NUM> with a load cell <NUM>, which is supported on a specially designed base - limiter of distortion (distortion limiter) <NUM> by means of load cell washers <NUM> and load cell support screws <NUM>. When engaged by the system, the bucket pin <NUM> (the trunnion of the garbage container) (shown in <FIG> and <FIG>) rests on the arm gripper <NUM> during removal (collection of the container), and the bucket pin <NUM> with its weight activates the movement of the arm gripper <NUM> transferring the load to the load cell <NUM> perpendicular to this direction through the load cell contact <NUM>. The particular embodiment shown in <FIG> can be installed on a vehicle <NUM> by replacing an existing arm of the vehicle, through the arm pin <NUM> (see <FIG> and <FIG>) which moves through the arm bearings <NUM>.

Referring to the embodiment shown in <FIG>, <FIG> and <FIG>, the pick-up comb <NUM>, to which the lip of the bucket (garbage container) is fixed during removal, is supported by a mobile mechanism of heavy-duty multi-point chain links <NUM> advantageously enabling always carrying the bucket load in a direction perpendicular to the load cell <NUM>. Heavy-duty chain anchors <NUM> are attached to both ends of the multi-point heavy-duty chain <NUM> with chain pins (links) <NUM>. In the shown embodiment, additionally, load cells <NUM> are attached to the base of the arm <NUM> or to pick-up mechanism <NUM>, and said load cells <NUM> are supported on a specially designed base - distortion limiter <NUM> by means of load cell washers <NUM> and load cell support screws <NUM>, which are independent of the bucket lip gripper <NUM>, through special load cell contacts <NUM> that advantageously ensure that the movement and load will be transferred to the load cell <NUM>. Referring to the embodiment shown in <FIG>, <FIG> and <FIG>, the bottom of the bucket lip gripper (pick-up comb) <NUM> holds the bucket (garbage container) off the lower push/rotate bar <NUM>) (see <FIG>) during the initial bucket removal (collection) stage.

With respect to the embodiment shown in <FIG>, a load cell assembly <NUM> is installed on the lower push/rotate bar <NUM> of the bucket. In the same embodiment, at a suitable point on the lower push/rotate bar <NUM>, one or more load cells <NUM> are installed which are supported in a desired way on the bar. In the same embodiment, each load cell <NUM> that is connected to the bar, is attached to the extraction mechanism <NUM> either with suitable support screws <NUM> or in any other suitable way, and is equipped with a distortion limiter <NUM>.

Preferably the aforementioned load cell contacts <NUM> can be a metal plate, a specially shaped screw or other suitable component, so that, advantageously, it rests on the load cell without being affected by different load directions other than the direction of the measured weight. Also, the aforementioned heavy duty chain anchors <NUM> can be of different sizes and types as shown in <FIG>,<FIG> (one type) and <FIG>, <FIG> (different type). Advantageously, the arm grabber (pick-up device) <NUM> or bin lip grabber (pick-up comb) <NUM> mechanisms can work independently of the load cells <NUM>, thereby giving the system the ability to operate safely and carry out removals of containers in the event of a problem, damage, rupture or even removal of the load cells <NUM>. Hence, in the system according to the first aspect of the invention, optionally and preferably the pickup device and/or the pick-up comb are configured to engage and support or lift the garbage container independently of whether the respective first and/or load cell is damaged, ruptured or removed from the system.

Also, referring to the embodiments shown in <FIG>, all load cells <NUM> arrangements have a cable <NUM> protected by a protective tube <NUM> and possibly (depending on the vehicle) a cover <NUM> which is fixed with cover support screws <NUM> (see <FIG>) and adjusted on it in an appropriate way in order to advantageously protect the system and its electronic parts from pressure, washing, shocks or any other external influencing factor, also advantageously, contributing to providing correct operation. Referring to the embodiments shown in <FIG>, at suitable points of the pick-up mechanism, one or more sensors <NUM> are installed to record the pick-up movement (see <FIG>,<FIG>, <FIG> and <FIG>) during pick-up, consisting of an inertial unit, either an accelerometer or a gyroscope, either an inclinometer, or a magnetometer, or another sensor for this purpose. A tilt sensor (inclination sensor) <NUM> of the bin collection vehicle is installed at a suitable point on the bin collection vehicle (see <FIG>) or is attached to or integrated in a component, e.g. a mechanical or electronic component, of the system of the first aspect of the invention.

Also, referring to the embodiments shown in <FIG>, the measurements from the load cells <NUM>, the inclination sensor <NUM> and the motion sensor <NUM> are recorded in an electronic device <NUM> for processing and sending the data, and the electronic device <NUM> has a processor, memory storage, wireless communication system and power supply system. Optionally and preferably, the readings from the load cells <NUM>, the vehicle inclination sensor <NUM> and the sensors <NUM> for recording the collection movement are taken into account to measure the weight of the bin (garbage container) and the weight of the contents of the bin. Preferably the data is recorded, averaged and/or calculated in the data processing and sending device <NUM>, and sent wirelessly.

Referring to the embodiment shown in <FIG> and <FIG>, the push/rotate bar <NUM> of the bucket has supports where friction limiting wheels <NUM> (see <FIG>) of suitable material are placed to reduce the friction of the contact of the bucket with the push/swivel bar <NUM>.

Optionally and preferably, the electronic device <NUM> for processing and sending the data is interconnected or includes within a housing of it an RFID reader or other wireless or optical means of unique identification of the bins, satellite GNSS positioning, receiving tachograph data, receiving CAN bus data or OBD.

Optionally and preferably, the pick-up motion recording sensor <NUM>, the electronic data processing and sending device <NUM> and the vehicle inclination sensor <NUM> are integrated into one device or electronic unit.

With reference to the embodiment shown in <FIG>, the system's comb <NUM> has a tooth, also called RFID tooth <NUM>, wherein an RFID reader is integrated. As shown in <FIG>, the range <NUM> of the RFID reader's antenna is such that it covers the position of an RFID tag <NUM> that preferably is attached to or is integrated in the garbage container (bin) <NUM>. Said range <NUM> in <FIG> is indicated by the dashed lines. The RFID reader of the embodiment shown in <FIG> has two antennas directed at different directions with respect to each other. The first antenna is directed towards a first direction towards the RFID tag <NUM> of the bin <NUM>, so that the RFID reader can read the tag when the system engages the trunnion <NUM> of the container via the system's pick-up device, as shown in <FIG>. The second antenna is directed towards a second direction, which can be substantially normal to the first one, so that it is directed and can read said tag <NUM> when the system engages the lip of the bin <NUM> via the comb, as is shown in <FIG>. The system of <FIG> has two arms each of which having a pick-up device and a comb, as shown in <FIG> wherein the garbage container has been omitted. Each of the arms also has a respective RFID tooth, wherein the RFID reader is integrated in an electronic unit comprising the required electronic components such as the device for processing and transmitting data and an inertial measurement unit (IMU) which is configured (i.e. has the appropriate sensors) to sense/detect motion and tilt (inclination). When the arms at are an open position, as shown in <FIG>, the system can engage the trunnions of the garbage container via the two system's (one system in each arm) pickup devices. When the arms are retracted at a closed position, the system can engage the lip of the garbage container via the two systems' (one system in each arm) pick-up combs.

Claim 1:
A system installable on a garbage truck for weighing a plurality of garbage container types, the system comprising:
an arm (10b, <NUM>) configured for supporting a garbage container (<NUM>, <NUM>, <NUM>) of a plurality of types;
a pick-up device (<NUM>, <NUM>) located at an end of the arm and configured to engage and hold a trunnion (<NUM>, <NUM>) of a garbage container (<NUM>, <NUM>, <NUM>) of a first pickup type;
a pick-up comb (<NUM>, <NUM>) attached along the arm (10b, <NUM>), or at another end of the arm (10b, <NUM>) opposite the end where the pick-up device is located, and
configured to engage and hold a lip (<NUM>) of a garbage container (<NUM>, <NUM>, <NUM>) of a second pickup type;
at least two load cells (<NUM>, <NUM>, <NUM>) of which a first one (<NUM>, <NUM>) is connected to the pick-up device (<NUM>, <NUM>) and the second one (<NUM>, <NUM>) is connected to the pick-up comb (<NUM>, <NUM>), wherein the first load cell (<NUM>, <NUM>) is configured to measure a weight exerted on the pick-up device (<NUM>, <NUM>) when the latter engages the garbage container (<NUM>, <NUM>, <NUM>) of the first pickup type, and the second load cell (<NUM>, <NUM>) is configured to measure a weight exerted on the pick-up comb (<NUM>, <NUM>) when the latter engages the garbage container (<NUM>, <NUM>, <NUM>) of the second pickup type;
at least one motion sensor (<NUM>) configured to record movement related to a collection of the garbage container (<NUM>, <NUM>, <NUM>) of the first or second pickup type by the system;
at least one inclination sensor (<NUM>) configured to sense an inclination of a garbage truck when the system is installed on the garbage truck (<NUM>);
at least one electronic device (<NUM>) configured to process and transmit data; and
one or more electronic units (<NUM>), each electronic unit comprising one or more of each of the at least one electronic device (<NUM>), the at least one inclination sensor (<NUM>) and the at least one motion sensor (<NUM>), preferably each electronic unit (<NUM>) further comprising an RFID reader (<NUM>) which is part of or is operationally connected to the electronic device;
wherein one of the one or more electronic units (<NUM>) is integrated with the pick-up comb (<NUM>, <NUM>), or the arm (10b, <NUM>), or the pick-up device (<NUM>, <NUM>); and wherein preferably the system comprises two electronic units (<NUM>).