Refuse Can Alignment and Dumping With Autonomous Trajectory Control
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Solution Overview
Problem
Current refuse collection vehicles lack efficient systems for detecting and engaging refuse cans, leading to manual operation and potential safety hazards, especially when navigating through crowded areas or identifying multiple cans.
Innovation Solution
A system comprising sensors, an actuator assembly, and a controller that uses a single-stage object detector to identify refuse cans, determine their position, and generate trajectories for the vehicle and actuator assembly to autonomously engage the cans, ensuring safe and efficient collection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual operation is used for refuse can collection, then operational flexibility is maintained, but safety hazards increase and operational efficiency decreases
Solution Approach 1:
The patent replaces manual mechanical operation with an automated system comprising sensors (optical, LIDAR, ultrasonic), object detectors (including single-stage object detectors), and actuators that automatically detect, track, and engage refuse cans. This substitution eliminates manual intervention in hazardous tasks while maintaining collection functionality.
Solution Approach 2:
The refuse collection vehicle performs detection, positioning, and engagement operations autonomously without human intervention. The system self-manages the collection process by automatically identifying cans, calculating trajectories, and executing engagement maneuvers, thereby improving safety while reducing manual labor.
2Productivity
If automated detection systems are implemented, then operational efficiency improves, but device complexity increases
Solution Approach 1:
The automated detection system is divided into distinct functional modules: sensor arrays for data collection, object detectors (including single-stage detectors) for identification, trajectory calculation units for path planning, and actuator control systems for execution. This segmentation allows each component to be optimized independently while working together to improve overall operational efficiency.
Solution Approach 2:
The system employs multi-functional sensors and detectors that can identify various types of refuse cans, obstacles, and environmental features using the same hardware platform. The object detection system handles multiple object classes and scenarios, reducing the need for specialized equipment and managing complexity through versatile components.
3Speed
If single-stage object detectors are used, then detection speed increases, but measurement precision may be compromised
Solution Approach 1:
The system combines multiple detection approaches by integrating single-stage object detectors with traditional sensor processing and multi-stage verification methods. This hybrid approach merges the speed advantages of single-stage detectors with the precision benefits of more complex detection algorithms, achieving both rapid identification and accurate positioning of refuse cans.
Solution Approach 2:
The system implements feedback mechanisms where initial detections from single-stage detectors are continuously refined through subsequent verification steps and real-time sensor data. This feedback loop allows the system to maintain high detection speed while improving measurement precision through iterative correction and validation of detected object positions.
Data Source
AI summary
A system for detecting and engaging a refuse can includes at least one sensor positioned on a refuse collection vehicle and configured to detect objects on one or more sides of the refuse vehicle, an actuator assembly configured to actuate to engage the refuse can, and a controller configured to detect, using a single-stage object detector, the 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 from the refuse collection vehicle to the position of the refuse can, generate a second trajectory for the actuator assembly, and initiate a control action to move at least one of the refuse collection vehicle along the first trajectory or the actuator assembly along the second trajectory to engage the refuse can.