Refuse vehicle control system

Patent metadata

Field	Value
Publication number	US-12333805-B2
Application number	US-202318500569-A
Country	US
Kind code	B2
Filing date	Nov 2, 2023
Priority date	Apr 23, 2018
Publication date	Jun 17, 2025
Grant date	Jun 17, 2025

Abstract

A refuse vehicle includes a chassis, a body, a refuse collection arm, a position sensor configured to detect a position of the refuse collection arm relative to the body, an object detection system configured to provide object detection data within a range of locations relative to the body, and a controller. The controller is configured to receive an indication, based on the object detection data, that an object is within the range of locations, in response to the indication that the object is within the range of locations, determine an initial location of the object relative to the body and determine if the object is an obstacle or a refuse container, and control operation of the refuse collection arm by limiting movement of the refuse collection arm to a grabbing position.

First claim

What is claimed is:

1. A refuse vehicle, comprising:
a chassis;
a body coupled to the chassis;
a refuse collection arm including an actuator configured to control movement of the refuse collection arm relative to the body;
a position sensor configured to detect a distance between the refuse collection arm and the body based on a length or angle of the actuator;
an object detection system configured to provide object detection data within a range of locations relative to the body; and
a controller in communication with the refuse collection arm, the position sensor, and the object detection system, the controller being configured to:
receive an indication, based on the object detection data, that an object is within the range of locations;
in response to the indication that the object is within the range of locations, determine an initial location of the object relative to the body and determine if the object is an obstacle or a refuse container;
in response to determining that the object is the obstacle, determine, based on the distance detected by the position sensor, if the refuse collection arm is deployed; and
in response to determining that the refuse collection arm is deployed, control operation of the refuse collection arm by limiting movement of the refuse collection arm to a grabbing position.

2. The refuse vehicle of claim 1 , wherein the range of locations includes lateral locations, longitudinal locations and vertical locations relative to the body.

3. The refuse vehicle of claim 1 , wherein the controller is configured to determine a distance between the obstacle and the refuse collection arm.

4. The refuse vehicle of claim 3 , wherein the controller is configured to limit movement of the refuse collection arm based on the distance between the refuse collection arm and the obstacle.

5. The refuse vehicle of claim 4 , wherein the refuse collection arm includes a pair of interface members.

6. The refuse vehicle of claim 1 , wherein the controller is configured to determine a distance between the obstacle and the refuse collection arm, and limit movement of the refuse collection arm based on the distance between the refuse collection arm and the obstacle being less than a threshold distance.

7. A refuse vehicle, comprising:
a chassis;
a body coupled to the chassis;
a refuse collection arm including an actuator configured to control movement of the refuse collection arm relative to the body;
a position sensor configured to detect a distance between the refuse collection arm and the body based on a length or angle of the actuator;
an object detection system configured to provide object detection data within a range of locations relative to the body; and
a controller in communication with the refuse collection arm, the position sensor, and the object detection system, the controller being configured to:
receive an indication, based on the object detection data, that an object is within the range of locations;
in response to the indication that the object is within the range of locations, determine if the object is an obstacle or a refuse container;
upon determining that the object is the obstacle, determine, based on the distance detected by the position sensor, if the refuse collection arm is deployed; and
in response to determining that the refuse collection arm is deployed, determine if the obstacle is within a predetermined distance of the refuse collection arm and limit movement of the refuse collection arm if the obstacle is within the predetermined distance.

8. The refuse vehicle of claim 7 , wherein the range of locations includes lateral locations, longitudinal locations and vertical locations relative to the body.

9. The refuse vehicle of claim 7 , wherein the refuse collection arm includes a pair of interface members.

10. The refuse vehicle of claim 9 , wherein the controller is configured to determine if the obstacle is within the predetermined distance of the pair of interface members.

11. The refuse vehicle of claim 7 , wherein the controller is configured to determine, based on the object detection data, that the object is arranged along a lateral side of the body.

12. A refuse vehicle, comprising:
a chassis;
a body coupled to the chassis;
a refuse collection arm including an actuator configured to control movement of the refuse collection arm relative to the body;
a position sensor configured to detect a distance between the refuse collection arm and the body based on a length or angle of the actuator;
an object detection system configured to provide object detection data within a range of locations relative to the body; and
a controller in communication with the refuse collection arm, the position sensor, and the object detection system, the controller being configured to:
receive an indication, based on the object detection data, that an object is within the range of locations;
in response to the indication that the object is within the range of locations, determine, based on the distance detected by the position sensor, if the refuse collection arm is deployed; and
upon determining that the refuse collection arm is deployed, limit movement of the refuse collection arm.

13. The refuse vehicle of claim 12 , wherein the range of locations includes lateral locations, longitudinal locations and vertical locations relative to the body.

14. The refuse vehicle of claim 12 , wherein the controller is configured to determine a distance between the object and the refuse collection arm.

15. The refuse vehicle of claim 14 , wherein the controller is configured to limit movement of the refuse collection arm based on the distance between the refuse collection arm and the object.

16. The refuse vehicle of claim 12 , wherein the refuse collection arm includes a pair of interface members.

17. The refuse vehicle of claim 16 , wherein the controller is configured to determine if the object is within a predetermined distance of the pair of interface members.

18. The refuse vehicle of claim 17 , wherein the controller is configured to disable movement of the refuse collection arm when the object is within the predetermined distance.

Assignees

• Oshkosh Corp

Inventors

• Wildgrube Grant
• Wei Zhenyi
• Clifton Cody D

Classifications

• G06V20/58

  Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads · CPC title

• B65F3/041 Primary

  Pivoted arms or pivoted carriers · CPC title

• G06T2207/10016

  Video; Image sequence · CPC title

• G06V20/20 Primary

  in augmented reality scenes · CPC title

• B65F2003/0276

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