US 11,899,460 B2
Automated alignment and dumping of refuse cans
Jeffrey Koga, Oshkosh, WI (US); Emily Davis, Rochester, MN (US); Jerrod Kappers, Oshkosh, WI (US); Vince Schad, Oshkosh, WI (US); Robert S. Messina, Oshkosh, WI (US); Christopher K. Yakes, Oshkosh, WI (US); Joshua D. Rocholl, Rochester, MN (US); Vincent Hoover, Byron, MN (US); Clinton T. Weckwerth, Pine Island, MN (US); Zachary L. Klein, Rochester, MN (US); John Beck, Oshkosh, WI (US); Brendan Chan, Oshkosh, WI (US); Skylar A. Wachter, Dodge Center, MN (US); and Dale Matsumoto, Oshkosh, WI (US)
Assigned to Oshkosh Corporation, Oshkosh, WI (US)
Filed by OSHKOSH CORPORATION, Oshkosh, WI (US)
Filed on Apr. 16, 2021, as Appl. No. 17/232,909.
Claims priority of provisional application 63/011,616, filed on Apr. 17, 2020.
Prior Publication US 2021/0373560 A1, Dec. 2, 2021
Int. Cl. G05D 1/02 (2020.01); G05D 1/00 (2006.01); B65F 3/04 (2006.01); B60Q 9/00 (2006.01); B65F 3/02 (2006.01)
CPC G05D 1/0212 (2013.01) [B60Q 9/00 (2013.01); B65F 3/04 (2013.01); G05D 1/0094 (2013.01); G05D 1/0231 (2013.01); G05D 1/0257 (2013.01); B65F 2003/025 (2013.01); B65F 2003/0269 (2013.01); B65F 2003/0279 (2013.01); B65F 2210/168 (2013.01); G05D 2201/0213 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for detecting and engaging a refuse can, the system comprising:
at least one sensor positioned on 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:
detect, using a single-stage object detector, a presence of the refuse can based on first data received from the at least one sensor;
determine, based on the first data, a position of the refuse can with respect to the refuse collection vehicle;
generate a first trajectory for the refuse collection vehicle, the first trajectory including a series of movements to position the refuse collection vehicle proximate to the position of the refuse can;
generate a second trajectory for the actuator assembly, the second trajectory indicating a series of movements to be executed by the actuator assembly to engage the refuse can; and
initiate a control action to move at least one of the refuse collection vehicle, using at least one movement of the series of movements included in the first trajectory, towards the position of the refuse can or the actuator assembly, using at least one movement of the series of movements included in the second trajectory, to engage the refuse can;
the control action, responsive to execution of the at least one movement of the series of movements included in the first trajectory or the at least one movement of the series of movements included in the second trajectory, updateable to further move at least one of the refuse collection vehicle towards the position of the refuse can or the actuator assembly to engage the refuse can.