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US 12,552,601 B2Granted
Refuse can detection systems and methods
AssigneeOshkosh Corporation
InventorsDakota Mahan, Christopher J. Rukas, John Beck, Brendan Chan
Life of this patent
Estimating the term…
Abstract
A system for detecting and engaging a refuse can includes at least one sensor coupled to a refuse collection vehicle and configured to detect objects on one or more sides of the refuse vehicle, an actuator assembly coupled to the refuse collection vehicle and configured to actuate to engage the refuse can, and a controller configured to receive first data from the at least one sensor, input the first data to a single-stage object detector, identify, based on an output of the single-stage object detector, the refuse can, and initiate a control action to move the actuator assembly and the refuse collection vehicle to engage the refuse can.
Claims22
A system for detecting and engaging a refuse can, the system comprising:
- at least one sensor coupled to 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:
- receive first data from the at least one sensor, wherein the first data is received responsive to detection of an object;
- input the first data to a single-stage object detector;
- identify, based on an output of the single-stage object detector, the object as the refuse can, wherein the controller identifies the object as the refuse can responsive to a determination that the object is located in a predetermined bounding box;
- generate, responsive to identification of the object as the refuse can, a user interface to display at least a portion of the first data;
- provide, via the user interface, an element that indicates a location of the refuse can, the element added to the at least a portion of the first data such that the element:
- surrounds the refuse can within the at least a portion of the first data;
- and
- continues to surround the refuse can responsive to at least one movement of the actuator assembly or at least one movement of the refuse collection vehicle;
- determine a trajectory for the actuator assembly that includes at least one of (i) a path for the actuator assembly to take or (ii) one or more movements for the actuator assembly to execute to engage the refuse can;
- update, responsive to determination of the trajectory, the user interface to include a graphical representation of the trajectory such that at least one of (i) the path or (ii) the one or more movements is presented via the user interface;
- update the graphical representation of the trajectory responsive to a change in a position between the refuse collection vehicle and the refuse can;
- and
- adjust, during performance of at least a portion of the trajectory by the actuator assembly, a position of the element within the at least a portion of the first data such that the element continues to surround the refuse can to indicate the location of the refuse can.
14 more elements
A method for detecting a refuse can, the method comprising:
- receiving data from one or more sensors coupled to a refuse collection vehicle, wherein the data is received responsive to detection of an object;
- processing the data by inputting the data into a single-stage object detector;
- identifying the object as the refuse can based on an output of the single-stage object detector, wherein identifying the object as the refuse can based on the output of the single-stage object detector includes determining that the object is located in a predetermined bounding box;
- generating, responsive to identifying the object as the refuse can, a user interface to display at least a portion of the data;
- providing, via the user interface, an element that indicates a location of the refuse can, the element added to the at least a portion of the data such that the element:
- surrounds the refuse can within the at least a portion of the data;
- and
- continues to surround the refuse can responsive to at least one movement of the refuse collection vehicle;
- determining a trajectory for an actuator assembly of the refuse collection vehicle, wherein the trajectory includes (i) a path or (ii) one or more movements for the actuator assembly to engage the refuse can;
- updating, responsive to determining the trajectory, the user interface to include a graphical representation of the trajectory such that (i) the path or (ii) the one or more movements is presented via the user interface;
- updating the graphical representation of the trajectory responsive to a change in a position between the refuse collection vehicle and the refuse can;
- and
- adjusting, during performance of at least a portion of the trajectory by the actuator assembly, a position of the element within the at least a portion of the data such that the element continues to surround the refuse can to indicate the location of the refuse can.
10 more elements
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:
- receiving data from one or more image sensors coupled to an exterior of the refuse collection vehicle, wherein the data is received responsive to detection of an object;
- processing the data via a single-stage object detector to identify the object as a refuse can, wherein an output of the single-stage object detector is a determination that the object is located in a predetermined bounding box;
- generating, responsive to identifying the object as the refuse can, a user interface to display at least a portion of the data;
- providing, via the user interface, an element that indicates a location of the refuse can, the element added to the at least a portion of the data such that the element:
- surrounds the refuse can within the at least a portion of the data;
- and
- continues to surround the refuse can responsive to at least one movement of the refuse collection vehicle;
- determining a trajectory for an actuator assembly of the refuse collection vehicle, wherein the trajectory includes (i) a path or (ii) one or more movements for the actuator assembly to engage the refuse can;
- updating, responsive to determining the trajectory, the user interface to include a graphical representation of the trajectory such that (i) the path or (ii) the one or more movements is presented via the user interface;
- updating the graphical representation of the trajectory responsive to a change in a position between the refuse collection vehicle and the refuse can;
- and
- adjusting, during performance of at least a portion of the trajectory by the actuator assembly, a position of the element within the at least a portion of the data such that the element continues to surround the refuse can to indicate the location of the refuse can.
10 more elements
Dependencies are inferred from the claim text.