Refuse collection vehicle positioning

A method of operating a refuse collection vehicle to collect refuse from a refuse container, the method comprising:

• receiving, by at least one processor, sensor data describing one or more fork pockets of the refuse container, wherein the refuse collection vehicle comprises at least one container detection sensor configured to generate the sensor data;
• analyzing the sensor data describing the one or more fork pockets of the refuse container to determine a position of each fork pocket;
• determining, by the at least one processor, a positioning of a lift arm of the refuse collection vehicle relative to a surface on which the refuse collection vehicle is positioned based on data provided by one or more body sensors;
• determining, by the at least one processor, a height of one or more ends of one or more forks of a fork assembly of the refuse collection vehicle relative to the surface on which the refuse collection vehicle is positioned based on the positioning of the lift arm relative to the surface on which the refuse collection vehicle is positioned, wherein the one or more forks are rotatable, about an axis parallel to the surface on which the refuse collection vehicle is positioned, relative to the at least one container detection sensor and the surface on which the refuse collection vehicle is positioned;
• determining, by the at least one processor, an amount and a direction of travel of the lift arm required to align the one or more ends of the one or more forks with the position of each fork pocket of the one or more fork pockets based on the height of the one or more ends of the one or more forks and the position of each fork pocket of the one or more fork pockets;
• and
• transmitting, by at least one processor, a signal to cause the lift arm to move the determined amount and the determined direction of travel.

A refuse collection vehicle comprising:

• a fork assembly including one or more forks configured to engage one or more respective fork pockets of a refuse container;
• a lift arm coupled to the fork assembly, the lift arm operable to lift the refuse container while the fork assembly is engaged with the one or more fork pockets;
• at least one position sensor configured to collect data indicating an angular position of the fork assembly relative to a surface on which the refuse collection vehicle is positioned;
• at least one container detection sensor configured to generate sensor data describing the one or more fork pockets of the refuse container, wherein the one or more forks are rotatable, about an axis parallel to the surface on which the refuse collection vehicle is positioned, relative to the at least one container detection sensor and the surface on which the refuse collection vehicle is positioned;
• and
• a computing device communicatively coupled to the fork assembly and the lift arm, the computing device programmed to perform operations comprising:
• receiving the sensor data describing the one or more fork pockets of the refuse container;
• analyzing the sensor data to determine an alignment angle to align at least one of the one or more forks with a respective fork pocket;
• determining, by the computing device, an angular position of one or more forks of the fork assembly relative to the surface on which the refuse collection vehicle is positioned based on the data provided by the at least one position sensor arranged to collect data indicating the angular position of the fork assembly;
• determining, by the computing device, an amount and a direction of rotation of the fork assembly required to align the one or more forks of the fork assembly with the fork pockets based on the angular position of one or more forks of the fork assembly relative to the surface on which the refuse collection vehicle is positioned and the determined alignment angle;
• and
• rotating the fork assembly in the determined amount and the determined direction of rotation.

A method of operating a refuse collection vehicle to collect refuse from a refuse container, the method comprising:

• receiving, by at least one processor, sensor data describing one or more fork pockets of the refuse container, wherein the refuse collection vehicle comprises at least one container detection sensor configured to generate the sensor data;
• analyzing the sensor data to determine an alignment angle to align at least one fork of a fork assembly of the refuse collection vehicle with a respective fork pocket;
• determining, by the at least one processor, an angular position of one or more forks of the fork assembly relative to a surface on which the refuse collection vehicle is positioned based on data provided by one or more body sensors, wherein the one or more forks are rotatable, about an axis parallel to the surface on which the refuse collection vehicle is positioned, relative to the at least one container detection sensor and the surface on which the refuse collection vehicle is positioned;
• determining, by the at least one processor, an amount and a direction of rotation of the fork assembly required to align the one or more forks of the fork assembly with the one or more fork pockets based on the angular position of one or more forks of the fork assembly relative to the surface on which the refuse collection vehicle is positioned and the determined alignment angle;
• and
• transmitting, by the at least one processor, a signal to cause rotation of the fork assembly in the determined amount and the determined direction of rotation.