US 12,459,730 B2
Refuse vehicle with spatial awareness
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 Feb. 9, 2023, as Appl. No. 18/107,733.
Application 18/107,733 is a continuation of application No. 17/232,367, filed on Apr. 16, 2021, granted, now 11,630,201.
Claims priority of provisional application 63/011,619, filed on Apr. 17, 2020.
Prior Publication US 2023/0184934 A1, Jun. 15, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B65F 3/02 (2006.01); B60Q 1/50 (2006.01); B60Q 5/00 (2006.01); B60W 30/09 (2012.01); G01S 13/86 (2006.01); G01S 13/931 (2020.01)
CPC B65F 3/02 (2013.01) [B60Q 1/525 (2013.01); B60Q 5/006 (2013.01); B60W 30/09 (2013.01); G01S 13/867 (2013.01); G01S 13/931 (2013.01); B60W 2520/06 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4043 (2020.02); B60W 2554/4044 (2020.02); B65F 2003/0269 (2013.01); B65F 2003/0279 (2013.01); B65F 2210/168 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A refuse vehicle, comprising:
a chassis;
a body coupled to the chassis, the body defining a refuse compartment;
a lift assembly coupled to at least one of the chassis or the body, the lift assembly comprising:
an attachment interface configured to engage with a refuse container; and
a positioning assembly coupled to the attachment interface to facilitate positioning of the attachment interface;
one or more sensors coupled to the body and configured to provide data relating to the presence of an obstacle proximate the refuse vehicle;
a controller configured to:
receive the data from the one or more sensors;
determine, using the data, the presence of the obstacle proximate the refuse vehicle; and
generate, a trajectory for the lift assembly, the trajectory comprising a first segment between the refuse vehicle and the refuse container and a second segment between the refuse container and the refuse compartment; and
initiate a control action when the obstacle is detected within the second segment of the trajectory, wherein the control action comprises at least one of controlling the movement of the refuse vehicle, controlling the movement of the lift assembly, or generating an alert.