Semi-autonomous refuse collection

Patent metadata

Field	Value
Publication number	US-11319147-B2
Application number	US-202016781857-A
Country	US
Kind code	B2
Filing date	Feb 4, 2020
Priority date	Feb 4, 2019
Publication date	May 3, 2022
Grant date	May 3, 2022

Abstract

Operating a refuse collection vehicle to collect refuse from a refuse container includes positioning a refuse collection vehicle with respect to a refuse container to be emptied, and manually engaging a switch to initiate a dump cycle to be performed by the refuse collection vehicle on the refuse container. The dump cycle includes engaging the refuse container with a portion of the vehicle, lifting the engaged refuse container to a dump position, and moving the refuse container to release contents of the refuse container into a hopper of the refuse collection vehicle. The dump cycle continues to completion as long as the switch remains manually engaged.

First claim

What is claimed is:

1. A computer-implemented method of operating a refuse collection vehicle to collect refuse from a refuse container, the method performed by at least one computing device, the method comprising:
analyzing data from at least one sensor on the refuse collection vehicle, the data indicating a position of the refuse container with respect to the refuse collection vehicle;
determining, based on the analyzing of the data, that the refuse container is in the position to be engaged by the refuse collection vehicle and, in response, energizing a switch in the refuse collection vehicle such that the switch is engageable by an operator of the refuse collection vehicle;
responsive to a detected engaging of the energized switch, initiating a dump cycle performed by the refuse collection vehicle on the refuse container, the dump cycle including:
engaging the refuse container with a portion of the refuse collection vehicle;
lifting the engaged refuse container to a dump position; and
moving the refuse container to release contents of the refuse container into a hopper of the refuse collection vehicle, and

responsive to a detected disengaging of the switch, automatically stopping the dump cycle, wherein subsequently reengaging the switch causes the dump cycle to continue from a point at which the dump cycle was stopped when the switch was disengaged.

2. The method of claim 1 , wherein:
the at least one sensor comprises a camera; and
the data from at least one sensor comprises image data collected by the camera.

3. The method of claim 1 , further comprising presenting one or more images on a graphical display within the refuse collection vehicle, the one or more images captured by a camera directed at the refuse container to align a feature of at least one image of the refuse container on the graphical display with a visual marker positioned on the graphical display.

4. The method of claim 1 , wherein while the refuse container is lifted to a dump position the refuse collection vehicle continuously levels the refuse container based on data received from one or more sensors positioned on the refuse collection vehicle.

5. The method of claim 1 , wherein when the refuse container is lifted to an elevation corresponding to a top of a windshield of the refuse collection vehicle, the refuse collection vehicle levels the container based on data received from one or more sensors positioned on the refuse collection vehicle.

6. The method of claim 1 , wherein the refuse collection vehicle includes an environmental monitoring sensor responsive to proximity of a potential hazard, and wherein the dump cycle is automatically stopped in response to a signal from the environmental monitoring sensor.

7. The method of claim 6 , wherein the stopped dump cycle automatically resumes in response to a signal from the environmental monitoring sensor indicating the potential hazard has departed.

8. The method of claim 1 , wherein reengaging the switch causes the dump cycle to continue to completion as long as the switch remains manually engaged.

9. The method of claim 1 , further comprising, after completion of the dump cycle, positioning an arm of the refuse collection vehicle in a travel position.

10. The method of claim 9 , wherein the positioning of the arm of the refuse collection vehicle in the travel position is responsive to a detected engaging of a second switch.

11. The method of claim 1 , further comprising:
disabling a second switch in response to determining that the refuse container is in the position to be engaged by the refuse collection vehicle, wherein the second switch is configured to cause at least one component of the refuse collection vehicle to be positioned in a stow position for travel, and wherein the at least one component performs at least one of the engaging of the refuse container, the lifting of the refuse container, or the moving of the refuse container during the dump cycle.

12. A computer-implemented method of operating a refuse collection vehicle to collect refuse from a refuse container, the method performed by at least one computing device, the method comprising:
analyzing data from at least one sensor on the refuse collection vehicle, the data indicating a position of the refuse container with respect to the refuse collection vehicle;
determining, based on the analyzing of the data, that the refuse container is in the position to be engaged by the refuse collection vehicle and, in response, energizing a switch in the refuse collection vehicle such that the switch is engageable by an operator of the refuse collection vehicle;
responsive to a detected engaging of the energized switch, initiating a dump cycle performed by the refuse collection vehicle on the refuse container, the dump cycle including:
lifting the container by operating an arm of the refuse collection vehicle; and
dumping a contents of the refuse container into a hopper of the refuse collection vehicle, and

during a positioning of the refuse collection vehicle in a fore-aft direction, presenting images on a graphical display within the vehicle, the images captured by a camera directed at the refuse container, wherein the graphical display indicates an alignment of a feature of at least one of the images of the refuse container with a visual marker presented on the graphical display, the visual marker comprising a first guideline, a second guideline, and a third guideline presented on the graphical display, a distance on the graphical display between the first guideline and the second guideline being greater than or equal to a distance between a first side of the image of the refuse container on the graphical display and second side of the image of the refuse container on the graphical display and the third guideline being disposed equidistant between the first guideline and second guideline.

13. The method of claim 12 wherein:
aligning a feature of the image of the refuse container on the graphical display with a first guideline and a second guideline positioned on the graphical display comprises aligning the image of the refuse container between the first guideline and the second guideline.

14. The method of claim 12 , wherein aligning a feature of the image of the refuse container on the graphical display with a visual marker positioned on the graphical display comprises aligning a centerline of the image of the refuse container with the third guideline.

15. A computer-implemented method of operating a refuse collection vehicle to eject refuse from a body of the refuse collection vehicle, the method performed by at least one computer device, the method comprising:
responsive to a detected engaging of a switch, initiating an ejection cycle to be performed by the refuse collection vehicle on the refuse in the body, the ejection cycle including:
unlocking a tailgate of the refuse collection vehicle;
lifting the tailgate of the refuse collection vehicle; and
moving an ejection cylinder of the refuse collection vehicle to eject at least a portion of the refuse, wherein the ejection cycle continues to completion as long as the switch remains engaged;

responsive to a detected disengaging of the switch, automatically stopping the ejection cycle;
determining a point at which the ejection cycle was stopped, based at least partly on data indicating one or more of: i) a location of the ejection cylinder when the switch was disengaged, or ii) a pressure of the body when the switch was disengaged, wherein the data is collected by one or more sensors on the refuse collection vehicle; and
responsive to a detected reengaging of

Assignees

• Heil Co

Inventors

• Maroney Stanley L
• Lewis David G
• Williams Robert B

Classifications

• B65F2003/0276

  capable of moving towards or away from the vehicle · CPC title

• B65F2003/0266

  comprising at least one telescopic arm · CPC title

• B65F3/04 Primary

  Linkages, pivoted arms, or pivoted carriers for raising and subsequently tipping receptacles · CPC title

• B65F2003/0283

  between the cab and the collection compartment · CPC title

• B65F2003/023

  Gripper arms for embracing the receptacle · CPC title