Refuse collection vehicle controls

A system for controlling operations of a refuse collection vehicle (RCV), the system comprising:

• at least one camera configured to capture image data of an environment proximate the RCV;
• at least one grabber sensor configured to collect grabber position data indicating a positioning of a grabber of the RCV, the grabber operable to engage a refuse container;
• at least one arm sensor configured to collect arm position data indicating a positioning of a lift arm of the RCV, the lift arm operable to lift the refuse container;
• at least one processor communicably coupled to the at least one grabber sensor and the at least one arm sensor;
• and
• memory communicably coupled to the at least one processor, the memory storing instructions which, when executed, cause the at least one processor to perform operations comprising:
• processing the image data to determine a position of the refuse container relative to the RCV;
• determining that the determined position of the refuse container relative to the RCV satisfies at least one predetermined condition;
• and
• in response to the determining that the position of the refuse container relative to the RCV satisfies the at least one predetermined condition, causing the RCV to automatically adjust at least one of a positioning of the lift arm or a positioning of the grabber based at least in part on the determined position of the refuse container and sensor data comprising at least one of the grabber position data or the arm position data, wherein the causing the RCV to automatically adjust at least one of the positioning of the lift arm or the positioning of the grabber comprises:
• determining, based at least in part on the processed image data, a target angular position of the grabber;
• determining, based at least in part on the sensor data and the target angular position of the grabber, a target position of the lift arm;
• causing the grabber to move from a current angular position to the target angular position;
• and
• causing the lift arm to move from a current position to the target position in a coordinated manner with the movement of the grabber from the current angular position to the target angular position.

A method for controlling operations of a refuse collection vehicle (RCV), the method performed by at least one processor, the method comprising:

• capturing, using at least one camera, image data of an environment proximate the RCV;
• processing the image data to determine a position of a refuse container relative to the RCV, the RCV comprising:
• a grabber operable to engage the refuse container;
• and
• a lift arm operable to lift the refuse container;
• determining that the determined position of the refuse container relative to the RCV satisfies at least one predetermined condition;
• and
• in response to the determining that the position of the refuse container relative to the RCV satisfies the at least one predetermined condition, causing the RCV to automatically adjust at least one of a positioning of the lift arm or a positioning of the grabber based at least in part on the determined position of the refuse container and sensor data indicating at least one of grabber positioning or lift arm positioning, wherein the causing the RCV to automatically adjust at least one of the positioning of the lift arm or the positioning of the grabber comprises:
• determining, based at least in part on the processed image data, a target angular position of the grabber;
• determining, based at least in part on the sensor data and the target angular position of the grabber, a target position of the lift arm;
• causing the grabber to move from a current angular position to the target angular position;
• and
• causing the lift arm to move from a current position to the target position in a coordinated manner with the movement of the grabber from the current angular position to the target angular position.