Vision-Based Waste Receptacle Detection and Manipulation
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Solution Overview
Problem
Current refuse vehicle systems lack efficient automation for detecting and engaging waste receptacles, leading to manual alignment and operation challenges that increase collection time and require substantial changes to existing vehicle hardware and control systems.
Innovation Solution
An intermediate container system equipped with a processor, cameras, and a manipulator arm that uses image data to detect and verify the location of waste receptacles, automatically aligning and engaging them for efficient collection without the need for manual intervention, and can be retrofitted onto existing vehicles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual alignment and operation methods are used for waste receptacle pick-up, then existing refuse vehicle systems can operate without additional detection equipment, but collection speed is reduced and operator workload increases
Solution Approach 1:
The patent replaces manual mechanical alignment operations with an automated vision-based detection system. The camera captures images of waste receptacles, the processor generates pose candidates and verifies them against template representations to automatically determine receptacle locations and orientations, eliminating the need for manual alignment while improving collection speed
Solution Approach 2:
The patent creates a digital copy (template representation) of the waste receptacle that is stored in the processor. This template is used to verify pose candidates generated from camera images, enabling automated recognition and location determination without requiring physical contact or manual measurement of the receptacle
2Ease of operation
If automated detection systems are implemented to improve collection efficiency, then operator workload is reduced, but hardware modifications to existing vehicles are required
Solution Approach 1:
The automated detection system is implemented as a separate, modular intermediate container assembly that can be attached to existing refuse vehicles without modifying the vehicle's core structure. The container includes its own camera, processor, and manipulator arm, allowing the detection and engagement functions to be added as a plug-and-play module
Solution Approach 2:
The patent introduces an intermediate container as a mediator between the existing refuse vehicle and the waste receptacle. This container serves as the platform for mounting the camera and manipulator arm, and acts as the mechanical interface for engaging receptacles, thereby isolating the detection system from direct integration with the vehicle's existing hardware
Data Source
AI summary
An intermediate container system for detecting a waste receptacle includes an intermediate container and a processor. The intermediate container includes a container, an extension arm coupled to the container, a manipulator coupled to a distal end of the extension arm, and a camera configured to obtain image data associated with a target area proximate the intermediate container. The processor is configured to generate, based on the image data, a pose candidate located within the target area. The processor is also configured to verify if the pose candidate matches a template representation corresponding to the waste receptacle. Responsive to the pose candidate matching the template representation, the processor is also configured to determine a location of the waste receptacle. The processor is also configured to operate at least one of the extension arm or the manipulator to move the manipulator based on the location of the waste receptacle.