# US 12,007,793 B2 · Denial of service systems and methods

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- Number: US 12,007,793 B2
- Document ID: US12007793B2
- Status: Granted
- Kind: B2
- Application number: 17/232,574
- Filed: 2021-04-16
- Published: 2021-10-21
- Granted: 2024-06-11
- Earliest claimed: 2020-04-17
- Assignees: Oshkosh Corporation
- Applicants: Oshkosh Corporation
- Inventors: Jeffrey Koga; Emily Davis; Jerrod Kappers; Vince Schad; Robert S. Messina; Christopher K. Yakes; Joshua D. Rocholl; Vincent Hoover; Clinton T. Weckwerth; Zachary L. Klein; John Beck; Brendan Chan; Skylar A. Wachter; Dale Matsumoto
- Web page: https://patentgrep.com/patent/US12007793B2

## CPC

- G06Q 30/016: After-sales
- B64C 39/024: {of the remote controlled vehicle type, i.e. RPV}
- B64U 10/14: with four distinct rotor axes, e.g. quadcopters
- B65F 3/04: Linkages, pivoted arms, or pivoted carriers for raising and subsequently tipping receptacles
- G01C 21/3415: {Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents}
- G01C 21/343: {Calculating itineraries (travelling salesman problem G06Q10/04; optimisation of routes G06Q10/047)}
- G01C 21/3602: {Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera}
- G01C 21/3811: {Point data, e.g. Point of Interest [POI]}
- G01C 21/3852: {Data derived from aerial or satellite images}
- G01C 21/3885: {Transmission of map data to client devices; Reception of map data by client devices}
- G01S 19/42: Determining position
- G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)}
- G05D 1/0217: {in accordance with energy consumption, time reduction or distance reduction criteria}
- G05D 1/0246: {using a video camera in combination with image processing means}
- G05D 1/0287: {involving a plurality of land vehicles, e.g. fleet or convoy travelling (traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16)}
- G05D 1/101: {specially adapted for aircraft}
- G05D 1/12: Target-seeking control
- G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras
- G05D 1/46: Control of position or course in three dimensions [3D]
- G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path
- G05D 1/683: Intercepting moving targets (docking at a base station G05D1/661)
- G05D 1/692: involving a plurality of disparate vehicles
- G06Q 10/047: Optimisation of routes or paths, e.g. travelling salesman problem
- G06Q 10/06312: {Adjustment or analysis of established resource schedule, e.g. resource or task levelling, or dynamic rescheduling}
- G06Q 10/30: Administration of product recycling or disposal
- G06Q 30/04: Billing or invoicing
- B64U 2101/30: for imaging, photography or videography
- B64U 2201/104: using satellite radio beacon positioning systems, e.g. GPS
- B64U 2201/20: Remote controls
- B65F 2003/023: {Gripper arms for embracing the receptacle}
- B65F 2003/0269: {capable of moving along the side of the vehicle}
- B65F 2003/0279: {the discharging means mounted at the front of the vehicle}
- B65F 2210/128: Data transmitting means
- B65F 2210/165: Remote controls
- G06V 20/176: {Urban or other man-made structures}
- Y02W 90/00: Enabling technologies or technologies with a potential or indirect contribution to greenhouse gas [GHG] emissions mitigation
- G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- B64C: AEROPLANES; HELICOPTERS
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B65F: GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE (disinfecting refuse A61L; refuse disintegrators B02C; sorting refuse B03B; B07B; handcarts for transporting refuse receptacles B62B; sack holders B65B67/00; converting refuse into fertilisers C05F; converting refuse into solid fuels C10L; sewers, cesspools E03F; arrangements in buildings for the disposal of refuse E04F17/10; refuse-consuming furnaces F23G; {for surgical articles A61B50/36})
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- Y02W: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT

## Abstract

A refuse vehicle system includes a refuse vehicle, a drone, and a controller. The drone includes a GPS and a sensor configured to provide data relating to a status of refuse within a scan area. The controller is configured to receive data from the sensor of the drone, determine the status of refuse within the scan area based on the data from the sensor of the drone, and at least one of generate a route for the refuse vehicle based on the status of refuse within the scan area, modify a route for the refuse vehicle based on the status of refuse within the scan area, and provide a signal to the refuse vehicle regarding the status of refuse within the scan area.

## Claims

### Claim 1

A refuse vehicle system, comprising:
a refuse vehicle; and
a drone comprising;
a GPS;
a sensor configured to provide data relating to a status of refuse within a scan area, wherein the drone is configured to travel along a predetermined route ahead of the refuse vehicle such that the controller determines the status of refuse within the scan area before the refuse vehicle arrives at the scan area;
a controller configured to:
receive data from the sensor of the drone;
determine the status of refuse within the scan area based on the data from the sensor of the drone, wherein the status of refuse within the scan area includes an orientation of a refuse container relative to the predetermined route;
generate a route for the refuse vehicle based on the status of refuse within the scan area;
modify a route for the refuse vehicle based on the status of refuse within the scan area; and
provide a signal to the refuse vehicle regarding the status of refuse within the scan area.

### Claim 2 (depends on 1)

The system of claim 1, wherein the controller is further configured to analyze the data to determine at least one of the following:
(a) a distance between the refuse container and the predetermined path;
(b) if an obstacle is present that obstruct access to the refuse container; or
(c) a location of obstacles in relation to a refuse container.

### Claim 3 (depends on 2)

The system of claim 2, further comprising an interface configured to communicate to a customer in response to receiving an indication from the controller that the refuse container is not in a proper position thereby facilitating correction by the customer prior to a pickup.

### Claim 4 (depends on 3)

The system of claim 3, wherein the interface is configured to receive an indication from the customer that the refuse container is in the proper position and provide the indication to the controller, wherein the controller is configured to facilitate a pickup by the refuse vehicle in response to receiving the indication.

### Claim 5 (depends on 4)

The system of claim 4, wherein the interface is configured to record an instance where the indication is not provided by the customer prior to the pickup.

### Claim 6 (depends on 1)

The system of claim 1, wherein the drone is configured to capture data relating to a plurality of statuses of refuse within a plurality of scan areas corresponding to a plurality of upcoming stops along a predetermined route.

### Claim 7 (depends on 6)

The system of claim 6, wherein the sensor is a camera configured to capture still images of the refuse within the scan area.

### Claim 8 (depends on 1)

The system of claim 1, wherein the controller comprises multiple controllers.

### Claim 9 (depends on 1)

The system of claim 1, wherein the controller is configured to provide the signal to the refuse vehicle regarding the status of refuse within the scan area, wherein the refuse vehicle is configured to provide an alert to an operator of the refuse vehicle in response to receiving the signal.

### Claim 10 (depends on 1)

The system of claim 1, wherein the controller is configured to modify a route for the refuse vehicle based on the status of refuse within the scan area and generate a modified route, wherein the controller is configured to provide the modified route to the refuse vehicle.

### Claim 11 (depends on 1)

The system of claim 1, the refuse vehicle comprising a first refuse vehicle, further comprising a second refuse vehicle, wherein the second refuse vehicle is configured to support the drone and travel along the predetermined route ahead of the first refuse vehicle.

### Claim 12 (depends on 11)

The system of claim 11, wherein at least one of the first refuse vehicle and the second refuse vehicle are configured to include a drone docking station, wherein the drone docking station may charge the drone.

### Claim 13 (depends on 12)

The system of claim 12, wherein the second refuse vehicle includes a camera that is configured to capture images of refuse containers at each stop and provide data to the controller.

### Claim 14 (depends on 1)

The system of claim 1, wherein the refuse vehicle is an autonomous refuse vehicle controlled by the controller, where the autonomous refuse vehicle is configured to travel along a predetermined route.

### Claim 15 (depends on 1)

The system of claim 1, wherein the controller comprises a route generator configured to manage operation of the refuse vehicle and the drone based on a pickup schedule.

### Claim 16

A method of providing a refuse removal service, comprising:
generating, by a service manager, a route plan for a refuse vehicle, the route plan identifying a stop for a refuse vehicle to retrieve refuse from a refuse container associated with a customer;
providing a drone including a controller and a sensor configured to identify a status of the refuse container, wherein the drone is configured to travel along the route plan ahead of the refuse vehicle such that the controller determines the status of refuse within the scan area before the refuse vehicle arrives at the scan area;
controlling the drone to travel to the stop and identify the status of the refuse container using the sensor, the status of the refuse container including an orientation of the refuse container relative to the route plan;
transmitting, by the controller, the status data of the refuse container to the service manager;
analyzing, by the service manager, the status obtained by the drone; and
modifying the route plan for the refuse vehicle based on the status of refuse within the scan area.