Automated alignment and dumping of refuse cans

Patent metadata

Field	Value
Publication number	US-11899460-B2
Application number	US-202117232909-A
Country	US
Kind code	B2
Filing date	Apr 16, 2021
Priority date	Apr 17, 2020
Publication date	Feb 13, 2024
Grant date	Feb 13, 2024

Abstract

A system for detecting and engaging a refuse can includes at least one sensor positioned on a refuse collection vehicle and configured to detect objects on one or more sides of the refuse vehicle, an actuator assembly configured to actuate to engage the refuse can, and a controller configured to detect, using a single-stage object detector, the presence of the refuse can based on first data received from the at least one sensor, determine, based on the first data, a position of the refuse can with respect to the refuse collection vehicle, generate a first trajectory from the refuse collection vehicle to the position of the refuse can, generate a second trajectory for the actuator assembly, and initiate a control action to move at least one of the refuse collection vehicle along the first trajectory or the actuator assembly along the second trajectory to engage the refuse can.

First claim

What is claimed is:

1. A system for detecting and engaging a refuse can, the system comprising:
at least one sensor positioned on a refuse collection vehicle and configured to detect objects on one or more sides of the refuse collection vehicle;
an actuator assembly coupled to the refuse collection vehicle and configured to actuate to engage the refuse can; and
a controller configured to:
detect, using a single-stage object detector, a presence of the refuse can based on first data received from the at least one sensor;
determine, based on the first data, a position of the refuse can with respect to the refuse collection vehicle;
generate a first trajectory for the refuse collection vehicle, the first trajectory including a series of movements to position the refuse collection vehicle proximate to the position of the refuse can;
generate a second trajectory for the actuator assembly, the second trajectory indicating a series of movements to be executed by the actuator assembly to engage the refuse can; and
initiate a control action to move at least one of the refuse collection vehicle, using at least one movement of the series of movements included in the first trajectory, towards the position of the refuse can or the actuator assembly, using at least one movement of the series of movements included in the second trajectory, to engage the refuse can;
the control action, responsive to execution of the at least one movement of the series of movements included in the first trajectory or the at least one movement of the series of movements included in the second trajectory, updateable to further move at least one of the refuse collection vehicle towards the position of the refuse can or the actuator assembly to engage the refuse can.

2. The system of claim 1 , wherein the refuse collection vehicle is a front loading refuse vehicle, the one or more sides of the refuse collection vehicle including at least a front side of the refuse collection vehicle.

3. The system of claim 1 , wherein the refuse collection vehicle is a side loading refuse vehicle, the one or more sides of the refuse collection vehicle including at least a left side or a right side of the refuse collection vehicle.

4. The system of claim 1 , wherein the at least one sensor is coupled to a container attachment carried by the refuse collection vehicle.

5. The system of claim 1 , the at least one sensor comprising at least one of a visible light camera, a LIDAR camera, and a radar sensor.

6. The system of claim 1 , wherein an output of the single-stage object detector is a probability of a presence of the refuse can, wherein the refuse can is detected based on a determination that the probability of the presence of the refuse can is above a threshold.

7. The system of claim 1 , the single-stage object detector comprising a feature pyramid network (FPN).

8. The system of claim 1 , wherein the first trajectory comprises that, when executed by moving the refuse collection vehicle, would position the refuse collection vehicle alongside of the refuse can.

9. The system of claim 1 , the controller further configured to:
identify a person based on an output of the single-stage object detector;
determine whether the person is within a predefined danger zone based on a proximity of the person to the refuse collection vehicle; and
initiate one or more safety measures if the person is determined to be within the predefined danger zone.

10. The system of claim 9 , wherein the one or more safety measures comprise at least one of limiting movement of the refuse collection vehicle or the actuator assembly and displaying an alert on a user interface within a cab of the refuse collection vehicle.

11. A method for detecting a refuse can, the method comprising:
receiving data from one or more sensors positioned on a refuse collection vehicle;
processing the data via a single-stage object detector to identify the refuse can;
determining a position of the refuse can with respect to the refuse collection vehicle;
generating a first trajectory for the refuse collection vehicle, the first trajectory including a series of movements to position the refuse collection vehicle proximate to the position of the refuse can;
generating a second trajectory for an actuator assembly coupled to the refuse collection vehicle, the second trajectory indicating a series of movements to be executed by the actuator assembly to engage the refuse can; and
initiating a control action to move at least one of the refuse collection vehicle, using at least one movement of the series of movements included in the first trajectory, towards the position of the refuse can or the actuator assembly, using at least one movement of the series of movements included in the second trajectory, to engage the refuse can.

12. The method of claim 11 , wherein the refuse collection vehicle is a front loading refuse collection vehicle, the one or more sides of the refuse collection vehicle including at least a front side of the refuse collection vehicle.

13. The method of claim 11 , wherein the refuse collection vehicle is a side loading refuse collection vehicle, the one or more sides of the refuse collection vehicle including at least a left side or a right side of the refuse collection vehicle.

14. The method of claim 11 , wherein at least one of the one or more sensors is coupled to a container attachment carried by the refuse collection vehicle.

15. The method of claim 11 , wherein an output of the single-stage object detector is a probability of a presence of the refuse can, the identification of the refuse can based on a determination that the probability of the presence of the refuse can is above a threshold.

16. The method of claim 11 , the single-stage object detector comprising a feature pyramid network (FPN).

17. The method of claim 11 , wherein the data is image data, the method further comprising training the single-stage object detector using augmented versions of the image data.

18. The method of claim 11 , further comprising:
identifying a person based on an output of the single-stage object detector;
determining whether the person is within a predefined danger zone based on a proximity of the person to the refuse collection vehicle; and
initiating one or more safety measures if the person is determined to be within the predefined danger zone.

19. The method of claim 18 , wherein the one or more safety measures comprise at least one of limiting movement of the refuse collection vehicle or the actuator assembly and displaying an alert on a user interface within a cab of the refuse collection vehicle.

20. A controller for a refuse collection vehicle, the controller comprising:
one or more memory devices having instructions stored thereon that, when executed by one or more processors, cause the one or more processors to perform operations comprising:
detecting, using a single-stage object detector, the presence of a refuse can based on first data received from at least one sensor positioned on an exterior of the refuse collection vehicle;
determining, based on the first data, a position of the refuse can with respect to the refuse collection vehicle;
generating a first trajectory for the refuse collection vehicle, the first trajectory including a series of movements to position the refuse collection vehicle proximate to the position of the refuse can;
generating a second trajectory for an actuator assembly coupled to the refuse collection vehicle, the second trajectory indicating a seri

Assignees

• Oshkosh Corp

Inventors

• Koga Jeffrey
• Davis Emily
• Kappers Jerrod
• Schad Vince
• Messina Robert S
• Yakes Christopher K
• Rocholl Joshua D
• Hoover Vincent
• Weckwerth Clinton T
• Klein Zachary L
• Beck John
• Chan Brendan
• Wachter Skylar A
• Matsumoto Dale

Classifications

• G05D1/0212 Primary

  with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287) · CPC title

• B60Q9/00

  Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 {, e.g. haptic signalling} · CPC title

• B65F3/04

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

• G05D1/0094

  involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target · CPC title

• G05D1/0231

  using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16) · CPC title