# US 2020/0401807 A1 · Refuse vehicle control system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2020/0401807 A1 - Document ID: US20200401807A1 - Status: Published application - Kind: A1 - Application number: 17/007,944 - Filed: 2020-08-31 - Published: 2020-12-24 - Earliest claimed: 2018-04-23 - Assignees: Oshkosh Corporation - Applicants: Oshkosh Corporation - Inventors: Grant Wildgrube; Zhenyi Wei; Cody D. Clifton - Web page: https://patentgrep.com/patent/US20200401807A1 ## CPC - G06V 20/20: in augmented reality scenes - B65F 3/041: {Pivoted arms or pivoted carriers} - B65F 3/048: {Linkages (B65F3/041 takes precedence)} - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - B65F 2003/0276: {capable of moving towards or away from the vehicle} - B65F 2003/0279: {the discharging means mounted at the front of the vehicle} - G06T 2207/10016: Video; Image sequence - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - 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}) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract A refuse vehicle includes a body coupled to a chassis and defining a refuse compartment configured to store refuse, a refuse collection arm configured to engage and lift a refuse container to unload refuse, and an object detection system configured to provide object detection data relating to locations of objects relative to the refuse vehicle. An actuator controls movement of the refuse collection arm. A controller is configured to use the object detection data to determine if the refuse container is present within an aligned zone relative to the chassis, the aligned zone representing a range of locations in which the refuse collection arm is capable of engaging the refuse container. In response to a determination that the refuse container is within the aligned zone, the controller is configured to provide an indication to an operator that the refuse container is within the aligned zone. ## Claims ### Claim 1 A refuse vehicle, including: a chassis extending longitudinally; a body coupled to the chassis and defining a refuse compartment configured to store refuse; a refuse collection arm configured to engage a refuse container and lift the refuse container to unload refuse from the refuse container, the refuse collection arm including an actuator configured to control movement of the refuse collection arm; an object detection system configured to provide object detection data relating to locations of objects relative to the refuse vehicle; and a controller operatively coupled to the object detection system and the actuator; wherein the controller is configured to use the object detection data to determine if the refuse container is present within an aligned zone relative to the chassis, the aligned zone representing a range of locations in which the refuse collection arm is capable of engaging the refuse container; and wherein, in response to a determination that the refuse container is within the aligned zone, the controller is configured to provide an indication to an operator that the refuse container is within the aligned zone. ### Claim 2 (depends on 1) The refuse vehicle of claim 1, wherein the range of locations of the aligned zone includes a plurality of longitudinal locations that are longitudinally offset from one another, and wherein the controller does not provide the indication if the refuse container is longitudinally forward or behind the aligned zone. ### Claim 3 (depends on 2) The refuse vehicle of claim 2, wherein the range of locations of the aligned zone includes a plurality of lateral locations that are laterally offset from one another, and wherein the controller does not provide the indication if the refuse container is laterally outside the aligned zone. ### Claim 4 (depends on 1) The refuse vehicle of claim 1, wherein the indication is a first indication, wherein the controller is configured to use the object detection data to determine if the refuse container is present within an intermediate zone relative to the chassis, the intermediate zone being adjacent to the aligned zone and representing a range of locations in which the refuse collection arm cannot engage the refuse container; and wherein, in response to a determination that the refuse container is within the intermediate zone, the controller is configured to provide a second indication to the operator that the refuse container is within the intermediate zone. ### Claim 5 (depends on 1) The refuse vehicle of claim 1, further comprising a display and an auditory output device both operatively coupled to the controller, wherein the controller is configured to control the display and the auditory output device to produce the indication that the refuse container is in the aligned zone, and wherein the indication that the refuse container is within the aligned zone includes a visual indication provided by the display and an auditory indication provided by the auditory output device. ### Claim 6 (depends on 1) The refuse vehicle of claim 1, further comprising a location sensor operatively coupled to the controller and configured to provide data relating to at least one of a position and an orientation of the refuse collection arm, and wherein the controller is configured to use the data from the location sensor to autonomously control the refuse collection arm to engage the refuse container and unload the refuse from the refuse container. ### Claim 7 (depends on 6) The refuse vehicle of claim 6, wherein the controller is configured to control the refuse collection arm to engage the refuse container and unload the refuse from the refuse container in response to the determination that the refuse container is within the aligned zone. ### Claim 8 (depends on 7) The refuse vehicle of claim 7, wherein the controller is configured to determine an initial location of the refuse container prior to unloading the refuse from the refuse container, and wherein the controller is configured to autonomously control the refuse collection arm to return the refuse container to the initial location after unloading the refuse from the refuse container. ### Claim 9 (depends on 1) The refuse vehicle of claim 1, wherein the controller is configured to use the object detection data to determine a location of an obstacle relative to the refuse collection arm, and wherein the controller is configured to limit movement of the refuse collection arm based on a distance between the refuse collection arm and the obstacle. ### Claim 10 (depends on 1) The refuse vehicle of claim 1, further comprising a load sensor configured to provide load data related to a load supported by the refuse collection arm, and wherein the controller is configured to use the load data to determine a weight of the refuse unloaded from the refuse container. ### Claim 11 (depends on 10) The refuse vehicle of claim 10, wherein the actuator is a hydraulic actuator configured to move the refuse collection arm in response to receiving hydraulic fluid, wherein the load sensor is a pressure sensor, and wherein the load data includes a pressure of the hydraulic fluid. ### Claim 12 (depends on 1) The refuse vehicle of claim 1, wherein the refuse vehicle is a front-loading refuse vehicle, and wherein the refuse compartment of the body is a first refuse compartment, further comprising: a container assembly coupled to the refuse collection arm and defining a second refuse compartment, wherein the refuse collection arm is configured to lift the refuse container to unload the refuse from the refuse container into the second refuse compartment of the container assembly; and a front-loading lift assembly coupled to the chassis and at least selectively coupled to the container assembly, wherein the front-loading lift assembly is configured to lift the container assembly to unload the refuse from the second refuse compartment into the first refuse compartment of the body. ### Claim 13 (depends on 1) The refuse vehicle of claim 1, wherein the refuse vehicle is a side-loading refuse vehicle, wherein the refuse collection arm is coupled to the chassis, and wherein the refuse collection arm is configured to lift the refuse container to unload refuse from the refuse container into the refuse compartment. ### Claim 14 A refuse vehicle, including: a chassis extending longitudinally; a body coupled to the chassis and defining a refuse compartment configured to store refuse; a refuse collection arm configured to engage a refuse container and lift the refuse container to unload refuse from the refuse container, the refuse collection arm including an actuator configured to control movement of the refuse collection arm; an object detection system configured to provide object detection data relating to locations of objects relative to the refuse vehicle; and a controller operatively coupled to the object detection system and the actuator; wherein, in response to an indication from the object detection system that an object is present near the refuse vehicle, the controller is configured to use the object detection data to determine if the object is an obstacle or a refuse container; and wherein, in response to a determination that the object is an obstacle, the controller is configured to at least one of (a) provide an indication to an operator that the obstacle is present near the refuse vehicle and (b) limit a movement of the refuse vehicle. ### Claim 15 (depends on 14) The refuse vehicle of claim 14, wherein the controller is configured to determine if the obstacle is positioned directly above the refuse collection arm, and wherein, in response to a determination that the obstacle is positioned directly above the refuse collection arm, the controller is configured to limit upward movement of the refuse collection arm. ### Claim 16 A control system for a refuse vehicle including a refuse collection arm, the control system comprising: a location sensor configured to provide data relating to at least one of a position and an orientation of the refuse collection arm; an actuator configured to control movement of the refuse collection arm; a display; and a controller operatively coupled to the location sensor, the actuator, and the display, wherein the controller is configured to use the data from the location sensor to generate a model of the refuse collection arm, and wherein the display is configured to display the model generated by the controller. ### Claim 17 (depends on 16) The control system of claim 16, further comprising an object detection system operatively coupled to the controller and configured to provide object detection data relating to locations of objects relative to the refuse vehicle; wherein the controller is configured to use the display to visually indicate a location of the refuse container relative to an aligned zone, the aligned zone representing a range of locations in which the refuse collection arm is capable of engaging the refuse container. ### Claim 18 (depends on 17) The control system of claim 17, wherein, in response to an indication from the object detection system that an object is present near the refuse vehicle, the controller is configured to use the object detection data to determine if the object is an obstacle or a refuse container; and wherein, in response to a determination that the object is an obstacle, the controller is configured to control the display to provide an indication to an operator that the obstacle is present near the refuse vehicle. ### Claim 19 (depends on 18) The control system of claim 18, further comprising a camera operatively coupled to the controller and configured to be coupled to a chassis of the refuse vehicle, wherein the camera is configured to record video of an area near the refuse vehicle, and wherein the display is configured to display the video. ### Claim 20 (depends on 16) The control system of claim 16, wherein the controller is configured to operate at least one system of the refuse vehicle according to a plurality of parameters that each correspond to a desired setting, and wherein the controller is configured to receive a profile containing the parameters from an external device.