Waste Receptacle Alignment Calibration Using LiDAR Sensing Ranges
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Solution Overview
Problem
Existing refuse vehicle systems face challenges in accurately aligning lift apparatuses with waste receptacles, leading to potential tipping or knocking over of receptacles during collection, requiring manual intervention to rectify misalignment issues.
Innovation Solution
A control system equipped with proximity sensors and processing circuitry to register perpendicular and lateral distances of waste receptacles, defining sensing ranges, and storing these distances for multiple positions, enabling precise alignment and automated collection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual alignment methods are used for waste receptacles, then the system complexity is low, but the alignment precision is insufficient leading to tipping or knocking over of receptacles
Solution Approach 1:
The patent replaces manual mechanical alignment methods with an automated optical sensing system. The proximity sensor (optical device) detects the position of waste receptacles and provides data to the control system, which automatically adjusts the lift apparatus alignment. This substitution of mechanical manual alignment with optical-electronic sensing and control resolves the contradiction by achieving high alignment precision through automated sensing while managing system complexity through integrated control algorithms.
Solution Approach 2:
The system creates a digital representation of the waste receptacle position by capturing optical data from the proximity sensor. This digital copy of the receptacle's spatial information is processed by the control system to determine precise alignment requirements. By working with a digital copy rather than direct mechanical measurement, the system achieves high measurement precision while maintaining manageable complexity through software-based processing.
2Measurement precision
If automated alignment systems are implemented, then the alignment precision improves, but the device complexity increases requiring sophisticated sensors and control algorithms
Solution Approach 1:
The system implements a feedback loop where the proximity sensor continuously monitors the position of waste receptacles, the control system processes this data to determine alignment status, and the lift apparatus is automatically adjusted based on this feedback. This closed-loop feedback mechanism achieves high alignment precision while managing control system complexity through iterative correction rather than requiring overly sophisticated open-loop control algorithms.
Solution Approach 2:
The automated alignment system performs self-alignment of the lift apparatus to waste receptacles without requiring external manual intervention. The control system uses data from the proximity sensor to automatically calculate and execute the necessary alignment adjustments, enabling the system to service itself and achieve precise alignment while keeping the control logic relatively simple through autonomous decision-making algorithms.
3Area of stationary object
If multiple sensing positions are calibrated, then the sensing range and coverage are improved, but the calibration time and complexity increase
Solution Approach 1:
The system performs preliminary calibration at multiple predetermined positions during the setup phase, storing the calibrated data for later use. By completing the calibration of multiple sensing positions in advance, the system establishes a comprehensive sensing range that covers the entire operational area. This preliminary action resolves the contradiction by investing calibration time upfront to achieve broad sensing coverage, rather than requiring continuous calibration during operation.
Solution Approach 2:
The calibration process is segmented into multiple discrete predetermined positions, with each position calibrated independently. The control system divides the overall sensing range into specific calibration points, calibrates each point separately, and then combines the results to achieve comprehensive coverage. This segmentation approach manages calibration complexity by breaking down the overall task into manageable segments while still achieving extensive sensing range through the aggregation of individual position data.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Facilitates accurate and automated alignment of lift apparatuses with waste receptacles, reducing the risk of tipping and minimizing manual intervention during waste collection.
Implementation Method 1
In various embodiments, the at least one proximity sensor is a light detection and ranging (LiDAR) sensor.
Data Source
AI summary
A control system for a refuse vehicle includes at least one proximity sensor to sense proximity of a target waste receptacle positioned relative to the refuse vehicle and processing circuitry. The processing circuity is configured to register a perpendicular distance between an edge of the target waste receptacle and a portion of the refuse vehicle, register a first lateral position of the target waste receptacle when the target waste receptacle is at the perpendicular distance, register a second lateral position of the target waste receptacle when the target waste receptacle is at the perpendicular distance, define a sensing range based on the first lateral position and the second lateral position, and store the perpendicular distance and the sensing range in a memory. The processing circuity is configured to repeat the preceding steps for each of a first position, second position, third position, and fourth position of the target waste receptacle.