Refuse collection vehicle controls

Patent metadata

Field	Value
Publication number	US-11453550-B2
Application number	US-202016857056-A
Country	US
Kind code	B2
Filing date	Apr 23, 2020
Priority date	Apr 23, 2019
Publication date	Sep 27, 2022
Grant date	Sep 27, 2022

Abstract

A refuse collection vehicle includes a grabber that is operable to engage a refuse container, a lift arm that is operable to lift a refuse container, at least one sensor that is arranged to collect data indicating an angular position of the grabber, at least one sensor that is arranged to collect data indicating a relative positioning of the lift arm, a first controller for adjusting the angular position of the grabber, and a second controller adjusting the relative positioning of the lift arm. The adjustment of the angular position of the grabber is coordinated with the adjustment of the relative positioning of the lift arm.

First claim

What is claimed is:

1. A refuse collection vehicle comprising:
a grabber that is operable to engage a refuse container;
a lift arm that is operable to lift the refuse container;
at least one first sensor that is arranged to collect data indicating an angular position of the grabber;
at least one second sensor that is arranged to collect data indicating a positioning of the lift arm;
a first controller for adjusting the angular position of the grabber relative to a surface on which the refuse collection vehicle is positioned, based at least partly on the data collected by the at least one first sensor; and
a second controller for adjusting the positioning of the lift arm based at least partly on the data collected by the at least one second sensor, wherein the adjustment of the angular position of the grabber relative to the lift arm is automatically coordinated with the adjustment of the positioning of the lift arm such that the positioning of the lift arm is automatically adjusted based at least partly on a selection, through the first controller, of a preset grabber positioning, and wherein the selected preset grabber positioning is selected from a plurality of preset grabber positionings that are available for selection using the first controller.

2. The refuse collection vehicle of claim 1 , wherein the first controller comprises one or more push buttons.

3. The refuse collection vehicle of claim 2 , wherein adjusting the angular position of the grabber comprises manually engaging at least one of the one or more push buttons.

4. The refuse collection vehicle of claim 3 , wherein manually engaging at least one of the one or more push buttons increments the angular position of the grabber.

5. The refuse collection vehicle of claim 4 , wherein manually engaging the at least one of the one or more push buttons increments the angular position of the grabber by 5 degrees of angular movement.

6. The refuse collection vehicle of claim 1 , wherein the grabber is parallel to a surface on which the refuse collection vehicle is positioned when the grabber is positioned in a baseline angular position.

7. The refuse collection vehicle of claim 1 , wherein the angular position of the grabber can be adjusted using the first controller in a range of −30 degrees to 30 degrees relative to a surface on which the refuse collection vehicle is positioned.

8. The refuse collection vehicle of claim 7 , further comprising an onboard computing device coupled to the at least one first sensor arranged to collect data indicating an angular position of the grabber, the at least one second sensor arranged to collect data indicating a relative positioning of the lift arm, the first controller, and the second controller.

9. The refuse collection vehicle of claim 8 , wherein coordinating the adjustment of the angular position of the grabber with the adjustment of the relative positioning of the lift arm comprises:
determining, by the onboard computing device, a current relative positioning of the lift arm based on data provided by the at least one second sensor arranged to collect data indicating a relative positioning of the lift arm;
determining, by the onboard computing device, that the current relative positioning of the lift arm is below a threshold position; and
in response to the determining that the current relative positioning of the lift arm is below the threshold position, modifying a range in which the angular position of the grabber can be adjusted using the first controller to a modified range.

10. The refuse collection vehicle of claim 9 , wherein the modified range comprises −15 degrees to 30 degrees relative to the surface.

11. The refuse collection vehicle of claim 9 , wherein the modified range is 0 degrees to 30 degrees relative to the surface.

12. The refuse collection vehicle of claim 1 , wherein the second controller comprises one or more control elements.

13. The refuse collection vehicle of claim 12 , wherein the relative positioning of the lift arm is adjusted by manually engaging at least one of the one or more control elements.

14. The refuse collection vehicle of claim 13 , wherein the relative positioning of the lift arm corresponds to a height of the grabber relative to a surface on which the refuse collection vehicle is positioned.

15. The refuse collection vehicle of claim 14 , wherein manually engaging at least one of the one or more control elements increments the height of the grabber relative to a surface on which the refuse collection vehicle is positioned.

16. The refuse collection vehicle of claim 12 , wherein at least one of the one or more control elements corresponds to a grabber height relative to a surface on which the refuse collection vehicle is positioned.

17. The refuse collection vehicle of claim 16 , wherein manually engaging the at least one of the one or more control elements corresponding to the grabber height relative to the surface on which the refuse collection vehicle is positioned adjusts the relative positioning of the lift arm to a position that corresponds to the grabber being positioned at the grabber height relative to the surface on which the refuse collection vehicle is positioned.

18. The refuse collection vehicle of claim 12 , wherein at least one of the one or more control elements corresponds to a baseline positioning of the lift arm, and manually engaging the at least one of the one or more control elements corresponding to a baseline positioning of the lift arm adjusts the relative positioning of the lift arm to the baseline positioning.

19. The refuse collection vehicle of claim 18 , wherein the baseline positioning comprises a relative positioning of the lift arm corresponding to a height of the grabber relative to a surface on which the refuse collection vehicle is positioned.

20. The refuse collection vehicle of claim 1 , wherein the relative positioning of the lift arm can be adjusted using the second controller such that a height of the grabber relative to a surface that the refuse collection vehicle is on can be adjusted in a range of 39 inches above the surface to 20 inches below the surface.

Assignees

• Heil Co

Inventors

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

Classifications

• B65F2003/0266

  comprising at least one telescopic arm · CPC title

• B25J5/06

  Manipulators combined with a control cab for the operator · CPC title

• G05B19/0426

  Programming the control sequence · CPC title

• B65F2003/023

  Gripper arms for embracing the receptacle · CPC title

• B25J13/088 Primary

  with position, velocity or acceleration sensors · CPC title