REFUSE VEHICLE WITH OBJECT DETECTION AND SORTING SYSTEM

Abstract

A refuse vehicle includes a body, a hopper, a robotic arm implement, multiple cameras, and processing circuitry. The body defines a pair of refuse compartments. The hopper receives refuse and direct the refuse into one of the pair of refuse compartments. The cameras are positioned at the hopper. The processing circuitry obtains image data of the hopper from the cameras. The processing circuitry detects an object to be separated from other refuse in the hopper based on the image data. The processing circuitry is also configured to operate the robotic arm implement to move the object from a first part of the hopper to a second part of the hopper for storage in one of the pair of refuse compartments separate from other refuse. The processing circuitry may be configured to obtain at least part of the image data from a camera positioned within a customer's refuse container.

Description

BACKGROUND

The present disclosure generally relates to the field of refuse vehicles. More specifically, the present disclosure relates to control systems for refuse vehicles.

SUMMARY

One embodiment of the present disclosure relates to a refuse vehicle. The refuse vehicle includes a body, a hopper, a robotic arm implement, multiple cameras, and processing circuitry. The body defines a pair of refuse compartments. The hopper is configured to receive refuse and direct the refuse into one of the pair of refuse compartments. The cameras are positioned at the hopper. The processing circuitry is configured to obtain image data of the hopper from the cameras. The processing circuitry is also configured to detect an object to be separated from other refuse in the hopper based on the image data. The processing circuitry is also configured to operate the robotic arm implement to move the object from a first part of the hopper to a second part of the hopper for storage in one of the pair of refuse compartments separate from other refuse. The processing circuitry may be configured to obtain at least part of the image data from a camera positioned within a customer's refuse container.

Another embodiment of the present disclosure is a refuse vehicle. The refuse vehicle includes a body defining a pair of refuse compartments. The refuse vehicle includes a hopper configured to receive refuse and direct the refuse into one of the pair of refuse compartments. The refuse vehicle also includes cameras position at the hopper. The refuse vehicle also includes processing circuitry configured to obtain image data of the hopper from the cameras. The processing circuitry is also configured to detect an object to be separated from other refuse in the hopper based on the image data. The processing circuitry is also configured to operate the hopper to direct the refuse in the hopper including the object into one of the pair of refuse compartments separate from other refuse.

Another embodiment of the present disclosure is a refuse vehicle. The refuse vehicle includes a body defining a refuse compartment. The refuse vehicle also includes a hopper configured to receive refuse and direct the refuse into the refuse compartment. The refuse vehicle also includes a robotic arm implement. The refuse vehicle also includes cameras positioned at the hopper. The refuse vehicle also includes processing circuitry configured to obtain image data of the hopper from the cameras. The processing circuitry is also configured to detect an object to be separated from other refuse in the hopper based on the image data. The processing circuitry is also configured to operate the robotic arm implement to remove the object from the hopper and place the object on a ground surface at a customer's pickup location to reject the object.

Another embodiment of the present disclosure is a refuse vehicle. The refuse vehicle includes a body defining a refuse compartment. The refuse vehicle also includes a hopper configured to receive refuse and direct the refuse into the refuse compartment. The refuse vehicle also includes multiple cameras positioned at the hopper. The refuse vehicle also includes processing circuitry configured to obtain image data of the hopper from the cameras. The processing circuitry is configured to detect an object to be separated from other refuse in the refuse compartment based on the image data, and predict, based on an amount of refuse in the refuse compartment, a location of the object within the refuse compartment. The processing circuitry is also configured to, during an ejection operation of the refuse from the refuse compartment, at least one of operate an alert device to notify an operator regarding the predicted location of the object within the refuse compartment or adjust the ejection operation of the refuse from the refuse compartment to eject the object at a different location.

This summary is illustrative only and is not intended to be in any way limiting. Other aspects, inventive features, and advantages of the devices or processes described herein will become apparent in the detailed description set forth herein, taken in conjunction with the accompanying figures, wherein like reference numerals refer to like elements.

BRIEF DESCRIPTION OF THE DRAWINGS

The disclosure will become more fully understood from the following detailed description, taken in conjunction with the accompanying figures, wherein like reference numerals refer to like elements, in which:

FIG. 1 is a perspective view of a front-loading refuse vehicle, according to an exemplary embodiment;

FIG. 2 is a side view of a rear-loading refuse vehicle, according to an exemplary embodiment;

FIG. 3 is a perspective view of a side-loading refuse vehicle, according to an exemplary embodiment;

FIG. 4 is a block diagram of a control system for any of the refuse vehicles of FIGS. 1-3, according to an exemplary embodiment;

FIG. 5 is a diagram illustrating a collection route for autonomous transport and collection by any of the refuse vehicles of FIGS. 1-3, according to an exemplary embodiment;

FIG. 6 is a diagram illustrating a refuse vehicle equipped with a refuse detection and sorting system, according to an exemplary embodiment;

FIG. 7 is a diagram illustrating different features of a refuse container that are usable by the refuse detection and sorting system of FIG. 6 to infer a type of refuse in the refuse container, according to an exemplary embodiment;

FIG. 8 is a block diagram of the refuse detection and sorting system of FIG. 6, according to an exemplary embodiment;

FIG. 9 is a diagram illustrating a hopper of the refuse vehicle of FIG. 6 including a movable partition to direct refuse into different refuse compartments, according to an exemplary embodiment;

FIG. 10 is a flow diagram of a process for detecting and sorting refuse, according to an exemplary embodiment;

FIG. 11 is a diagram of a side loading refuse vehicle including multiple refuse compartments and an object detection and sorting system, according to an exemplary embodiment;

FIG. 12 is a diagram of a side loading refuse vehicle including a single refuse compartment and the object detection and sorting system of FIG. 11, according to an exemplary embodiment;

FIG. 13 is a diagram of a front end loading refuse vehicle including an intermediate refuse container with a side loading apparatus and the object detection and sorting system of FIG. 11, according to an exemplary embodiment;

FIG. 14 is a diagram of a hopper of a multi-compartment refuse vehicle for allowing or limiting access to one of multiple refuse compartments, according to an exemplary embodiment;

FIG. 15 is a diagram of a side loading refuse vehicle including the object detection and sorting system of FIG. 11 and parts of the refuse detection and sorting system of FIG. 6, according to an exemplary embodiment;

FIG. 16 is a diagram of image data obtained from a camera of the object detection and sorting system of FIG. 11, according to an exemplary embodiment;

FIG. 17 is a diagram of a robotic arm implement of the object detection and sorting system of FIG. 11, according to an exemplary embodiment;

FIG. 18 is a diagram of a customer refuse container including a camera, according to an exemplary embodiment;

FIG. 19 is a diagram of the customer refuse container of FIG. 18, according to an exemplary embodiment;

FIG. 20 is a block diagram of the object detection and sorting system of FIG. 11, according to an exemplary embodiment;

FIG. 21 is a flow diagram of a process for detecting objects and quarantining the objects from refuse on a refuse vehicle, according to an exemplary embodiment; and

FIG. 22 is a flow diagram of a process for detecting objects and tracking objects in a refuse compartment of a refuse vehicle, according to an exemplary embodiment.

DETAILED DESCRIPTION

Before turning to the figures, which illustrate the exemplary embodiments in detail, it should be understood that the present application is not limited to the details or methodology set forth in the description or illustrated in the figures. It should also be understood that the terminology is for the purpose of description only and should not be regarded as limiting.

Overview

Referring generally to the FIGURES, a refuse vehicle may include a single refuse compartment or multiple refuse compartments. The refuse vehicle can include a hopper that is configured to deliver refuse emptied into the hopper to one of the refuse compartments or into the refuse compartment, depending on the configuration of the refuse vehicle (e.g., if the refuse vehicle has a single refuse compartment or multiple refuse compartments). The refuse vehicle can also include cameras configured to obtain image data of the hopper including the refuse that is currently emptied into the hopper. The refuse vehicle may include processing circuitry configured to obtain the image data and detect one or more objects that should be separated from common or regular refuse. The processing circuitry can also receive image data from a camera positioned within a customer's refuse container and perform the image analysis to detect the one or more objects based on the image data from the camera of the customer's refuse container. The processing circuitry may operate a robotic arm implement to move the detected object to be stored in a separate one of the refuse compartments or to remove the object from the hopper and return the object to the customer's pickup location (e.g., reject the object).

Refuse Vehicle

Front-Loading Configuration

Referring to FIG. 1, a vehicle, shown as refuse vehicle 10 (e.g., a garbage truck, a waste collection truck, a sanitation truck, etc.), is shown that is configured to collect and store refuse along a collection route. In the embodiment of FIG. 1, the refuse vehicle 10 is configured as a front-loading refuse vehicle. The refuse vehicle 10 includes a chassis, shown as frame 12; a body assembly, shown as body 14, coupled to the frame 12 (e.g., at a rear end thereof, etc.); and a cab, shown as cab 16, coupled to the frame 12 (e.g., at a front end thereof, etc.). The cab 16 may include various components to facilitate operation of the refuse vehicle 10 by an operator (e.g., a seat, a steering wheel, hydraulic controls, a user interface, an acceleration pedal, a brake pedal, a clutch pedal, a gear selector, switches, buttons, dials, etc.). As shown in FIG. 1, the refuse vehicle 10 includes a prime mover, shown as engine 18, coupled to the frame 12 at a position beneath the cab 16. The engine 18 is configured to provide power to tractive elements, shown as wheels 20, and/or to other systems of the refuse vehicle 10 (e.g., a pneumatic system, a hydraulic system, etc.). The engine 18 may be configured to utilize one or more of a variety of fuels (e.g., gasoline, diesel, bio-diesel, ethanol, natural gas, etc.), according to various exemplary embodiments. The fuel may be stored in a tank 28 (e.g., a vessel, a container, a capsule, etc.) that is fluidly coupled with the engine 18 through one or more fuel lines.

According to an alternative embodiment, the engine 18 additionally or alternatively includes one or more electric motors coupled to the frame 12 (e.g., a hybrid refuse vehicle, an electric refuse vehicle, etc.). The electric motors may consume electrical power from any of an on-board storage device (e.g., batteries, ultra-capacitors, etc.), from an on-board generator (e.g., an internal combustion engine, etc.), or from an external power source (e.g., overhead power lines, etc.) and provide power to the systems of the refuse vehicle 10. The engine 18 may transfer output torque to or drive the tractive elements 20 (e.g., wheels, wheel assemblies, etc.) of the refuse vehicle 10 through a transmission 22. The engine 18, the transmission 22, and one or more shafts, axles, gearboxes, etc., may define a driveline of the refuse vehicle 10.

According to an exemplary embodiment, the refuse vehicle 10 is configured to transport refuse from various waste receptacles within a municipality to a storage and/or processing facility (e.g., a landfill, an incineration facility, a recycling facility, etc.). As shown in FIG. 1, the body 14 includes a plurality of panels, shown as panels 32, a tailgate 34, and a cover 36. The panels 32, the tailgate 34, and the cover 36 define a collection chamber (e.g., hopper, etc.), shown as refuse compartment 30. Loose refuse may be placed into the refuse compartment 30 where it may thereafter be compacted. The refuse compartment 30 may provide temporary storage for refuse during transport to a waste disposal site and/or a recycling facility. In some embodiments, at least a portion of the body 14 and the refuse compartment 30 extend in front of the cab 16. According to the embodiment shown in FIG. 1, the body 14 and the refuse compartment 30 are positioned behind the cab 16. In some embodiments, the refuse compartment 30 includes a hopper volume and a storage volume. Refuse may be initially loaded into the hopper volume and thereafter transferred and/or compacted into the storage volume. According to an exemplary embodiment, the hopper volume is positioned forward of the cab 16 (e.g., refuse is loaded into a position of the refuse compartment 30 in front of the cab 16, a front-loading refuse vehicle, etc.). In other embodiments, the hopper volume is positioned between the storage volume and the cab 16 (e.g., refuse is loaded into a position of the refuse compartment 30 behind the cab 16 and stored in a position further toward the rear of the refuse compartment 30). In yet other embodiments, the storage volume is positioned between the hopper volume and the cab 16 (e.g., a rear-loading refuse vehicle, etc.).

The tailgate 34 may be hingedly or pivotally coupled with the body 14 at a rear end of the body 14 (e.g., opposite the cab 16). The tailgate 34 may be driven to rotate between an open position and a closed position by tailgate actuators 24. The refuse compartment 30 may be hingedly or pivotally coupled with the frame 12 such that the refuse compartment 30 can be driven to raise or lower while the tailgate 34 is open in order to dump contents of the refuse compartment 30 at a landfill. The refuse compartment 30 may include a packer assembly (e.g., a compaction apparatus) positioned therein that is configured to compact loose refuse.

Referring still to FIG. 1, the refuse vehicle 10 includes a first lift mechanism or system (e.g., a front-loading lift assembly, etc.), shown as lift assembly 40. The lift assembly 40 includes a pair of arms, shown as lift arms 42, coupled to at least one of the frame 12 or the body 14 on either side of the refuse vehicle 10 such that the lift arms 42 extend forward of the cab 16 (e.g., a front-loading refuse vehicle, etc.). The lift arms 42 may be rotatably coupled to frame 12 with a pivot (e.g., a lug, a shaft, etc.). The lift assembly 40 includes first actuators, shown as lift arm actuators 44 (e.g., hydraulic cylinders, etc.), coupled to the frame 12 and the lift arms 42. The lift arm actuators 44 are positioned such that extension and retraction thereof rotates the lift arms 42 about an axis extending through the pivot, according to an exemplary embodiment. Lift arms 42 may be removably coupled to a container, shown as refuse container 200 in FIG. 1. Lift arms 42 are configured to be driven to pivot by lift arm actuators 44 to lift and empty the refuse container 200 into the hopper volume for compaction and storage. The lift arms 42 may be coupled with a pair of forks or elongated members that are configured to removably couple with the refuse container 200 so that the refuse container 200 can be lifted and emptied. The refuse container 200 may be similar to the container attachment 200 as described in greater detail in U.S. application Ser. No. 17/558,183, filed Dec. 12, 2021, the entire disclosure of which is incorporated by reference herein.

Rear-Loading Configuration

As shown in FIG. 2, the refuse vehicle 10 may be configured as a rear-loading refuse vehicle, according to some embodiments. In the rear-loading embodiment of the refuse vehicle 10, the tailgate 34 defines an opening 38 through which loose refuse may be loaded into the refuse compartment 30. The tailgate 34 may also include a packer 46 (e.g., a packing assembly, a compaction apparatus, a claw, a hinged member, etc.) that is configured to draw refuse into the refuse compartment 30 for storage. Similar to the embodiment of the refuse vehicle 10 described in FIG. 1 above, the tailgate 34 may be hingedly coupled with the refuse compartment 30 such that the tailgate 34 can be opened or closed during a dumping operation.

Side-Loading Configuration

Referring to FIG. 3, the refuse vehicle 10 may be configured as a side-loading refuse vehicle (e.g., a zero radius side-loading refuse vehicle). The refuse vehicle 10 includes first lift mechanism or system, shown as lift assembly 50. Lift assembly 50 includes a grabber assembly, shown as grabber assembly 52, movably coupled to a track, shown as track 56, and configured to move along an entire length of track 56. According to the exemplary embodiment shown in FIG. 3, track 56 extends along substantially an entire height of body 14 and is configured to cause grabber assembly 52 to tilt near an upper height of body 14. In other embodiments, the track 56 extends along substantially an entire height of body 14 on a rear side of body 14. The refuse vehicle 10 can also include a reach system or assembly coupled with a body or frame of refuse vehicle 10 and lift assembly 50. The reach system can include telescoping members, a scissors stack, etc., or any other configuration that can extend or retract to provide additional reach of grabber assembly 52 for refuse collection.

Referring still to FIG. 3, grabber assembly 52 includes a pair of grabber arms shown as grabber arms 54. The grabber arms 54 are configured to rotate about an axis extending through a bushing. The grabber arms 54 are configured to releasably secure a refuse container to grabber assembly 52, according to an exemplary embodiment. The grabber arms 54 rotate about the axis extending through the bushing to transition between an engaged state (e.g., a fully grasped configuration, a fully grasped state, a partially grasped configuration, a partially grasped state) and a disengaged state (e.g., a fully open state or configuration, a fully released state/configuration, a partially open state or configuration, a partially released state/configuration). In the engaged state, the grabber arms 54 are rotated towards each other such that the refuse container is grasped therebetween. In the disengaged state, the grabber arms 54 rotate outwards such that the refuse container is not grasped therebetween. By transitioning between the engaged state and the disengaged state, the grabber assembly 52 releasably couples the refuse container with grabber assembly 52. The refuse vehicle 10 may pull up along-side the refuse container, such that the refuse container is positioned to be grasped by the grabber assembly 52 therebetween. The grabber assembly 52 may then transition into an engaged state to grasp the refuse container. After the refuse container has been securely grasped, the grabber assembly 52 may be transported along track 56 with the refuse container. When the grabber assembly 52 reaches the end of track 56, the grabber assembly 52 may tilt and empty the contents of the refuse container in refuse compartment 30. The tilting is facilitated by the path of the track 56. When the contents of the refuse container have been emptied into refuse compartment 30, the grabber assembly 52 may descend along the track 56, and return the refuse container to the ground. Once the refuse container has been placed on the ground, the grabber assembly may transition into the disengaged state, releasing the refuse container.

Control System

Referring to FIG. 4, the refuse vehicle 10 may include a control system 100 that is configured to facilitate autonomous or semi-autonomous operation of the refuse vehicle 10, or components thereof. The control system 100 includes a controller 102 that is positioned on the refuse vehicle 10, a remote computing system 134, a telematics unit 132, one or more input devices 150, and one or more controllable elements 152. The input devices 150 can include a Global Positioning System (“GPS”), multiple sensors 126, a vision system 128 (e.g., an awareness system), and a Human Machine Interface (“HMI”). The controllable elements 152 can include a driveline 110 of the refuse vehicle 10, a braking system 112 of the refuse vehicle 10, a steering system 114 of the refuse vehicle 10, a lift apparatus 116 (e.g., the lift assembly 40, the lift assembly 50, etc.), a compaction system 118 (e.g., a packer assembly, the packer 46, etc.), body actuators 120 (e.g., tailgate actuators 24, lift or dumping actuators, etc.), and/or an alert system 122.

The controller 102 includes processing circuitry 104 including a processor 106 and memory 108. Processing circuitry 104 can be communicably connected with a communications interface of controller 102 such that processing circuitry 104 and the various components thereof can send and receive data via the communications interface. Processor 106 can be implemented as a general purpose processor, an application specific integrated circuit (ASIC), one or more field programmable gate arrays (FPGAs), a group of processing components, or other suitable electronic processing components.

Memory 108 (e.g., memory, memory unit, storage device, etc.) can include one or more devices (e.g., RAM, ROM, Flash memory, hard disk storage, etc.) for storing data and/or computer code for completing or facilitating the various processes, layers and modules described in the present application. Memory 108 can be or include volatile memory or non-volatile memory. Memory 108 can include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described in the present application. According to some embodiments, memory 108 is communicably connected to processor 106 via processing circuitry 104 and includes computer code for executing (e.g., by at least one of processing circuitry 104 or processor 106) one or more processes described herein.

The controller 102 is configured to receive inputs (e.g., measurements, detections, signals, sensor data, etc.) from the input devices 150, according to some embodiments. In particular, the controller 102 may receive a GPS location from the GPS system 124 (e.g., current latitude and longitude of the refuse vehicle 10). The controller 102 may receive sensor data (e.g., engine temperature, fuel levels, transmission control unit feedback, engine control unit feedback, speed of the refuse vehicle 10, etc.) from the sensors 126. The controller 102 may receive image data (e.g., real-time camera data) from the vision system 128 of an area of the refuse vehicle 10 (e.g., in front of the refuse vehicle 10, rearwards of the refuse vehicle 10, on a street-side or curb-side of the refuse vehicle 10, at the hopper of the refuse vehicle 10 to monitor refuse that is loaded, within the cab 16 of the refuse vehicle 10, etc.). The controller 102 may receive user inputs from the HMI 130 (e.g., button presses, requests to perform a lifting or loading operation, driving operations, steering operations, braking operations, etc.).

The controller 102 may be configured to provide control outputs (e.g., control decisions, control signals, etc.) to the driveline 110 (e.g., the engine 18, the transmission 22, the engine control unit, the transmission control unit, etc.) to operate the driveline 110 to transport the refuse vehicle 10. The controller 102 may also be configured to provide control outputs to the braking system 112 to activate and operate the braking system 112 to decelerate the refuse vehicle 10 (e.g., by activating a friction brake system, a regenerative braking system, etc.). The controller 102 may be configured to provide control outputs to the steering system 114 to operate the steering system 114 to rotate or turn at least two of the tractive elements 20 to steer the refuse vehicle 10. The controller 102 may also be configured to operate actuators or motors of the lift apparatus 116 (e.g., lift arm actuators 44) to perform a lifting operation (e.g., to grasp, lift, empty, and return a refuse container). The controller 102 may also be configured to operate the compaction system 118 to compact or pack refuse that is within the refuse compartment 30. The controller 102 may also be configured to operate the body actuators 120 to implement a dumping operation of refuse from the refuse compartment 30 (e.g., driving the refuse compartment 30 to rotate to dump refuse at a landfill). The controller 102 may also be configured to operate the alert system 122 (e.g., lights, speakers, display screens, etc.) to provide one or more aural or visual alerts to nearby individuals.

The controller 102 may also be configured to receive feedback from any of the driveline 110, the braking system 112, the steering system 114, the lift apparatus 116, the compaction system 118, the body actuators 120, or the alert system 122. The controller may provide any of the feedback to the remote computing system 134 via the telematics unit 132. The telematics unit 132 may include any wireless transceiver, cellular dongle, communications radios, antennas, etc., to establish wireless communication with the remote computing system 134. The telematics unit 132 may facilitate communications with telematics units 132 of nearby refuse vehicles 10 to thereby establish a mesh network of refuse vehicles 10.

The controller 102 is configured to use any of the inputs from any of the GPS 124, the sensors 126, the vision system 128, or the HMI 130 to generate controls for the driveline 110, the braking system 112, the steering system 114, the lift apparatus 116, the compaction system 118, the body actuators 120, or the alert system 122. In some embodiments, the controller 102 is configured to operate the driveline 110, the braking system 112, the steering system 114, the lift apparatus 116, the compaction system 118, the body actuators 120, and/or the alert system 122 to autonomously transport the refuse vehicle 10 along a route (e.g., self-driving), perform pickups or refuse collection operations autonomously, and transport to a landfill to empty contents of the refuse compartment 30. The controller 102 may receive one or more inputs from the remote computing system 134 such as route data, indications of pickup locations along the route, route updates, customer information, pickup types, etc. The controller 102 may use the inputs from the remote computing system 134 to autonomously transport the refuse vehicle 10 along the route and/or to perform the various operations along the route (e.g., picking up and emptying refuse containers, providing alerts to nearby individuals, limiting pickup operations until an individual has moved out of the way, etc.).

In some embodiments, the remote computing system 134 is configured to interact with (e.g., control, monitor, etc.) the refuse vehicle 10 through a virtual refuse truck as described in U.S. application Ser. No. 16/789,962, now U.S. Pat. No. 11,380,145, filed Feb. 13, 2020, the entire disclosure of which is incorporated by reference herein. The remote computing system 134 may perform any of the route planning techniques as described in greater detail in U.S. application Ser. No. 18/111,137, filed Feb. 17, 2023, the entire disclosure of which is incorporated by reference herein. The remote computing system 134 may implement any route planning techniques based on data received by the controller 102. In some embodiments, the controller 102 is configured to implement any of the cart alignment techniques as described in U.S. application Ser. No. 18/242,224, filed Sep. 5, 2023, the entire disclosure of which is incorporated by reference herein. The refuse vehicle 10 and the remote computing system 134 may also operate or implement geofences as described in greater detail in U.S. application Ser. No. 17/232,855, filed Apr. 16, 2021, the entire disclosure of which is incorporated by reference herein.

Referring to FIG. 5, a diagram 300 illustrates a route 308 through a neighborhood 302 for the refuse vehicle 10. The route 308 includes future stops 314 along the route 308 to be completed, and past stops 316 that have already been completed. The route 308 may be defined and provided by the remote computing system 134. The remote computing system 134 may also define or determine the future stops 314 and the past stops 316 along the route 308 and provide data regarding the geographic location of the future stops 314 and the past stops 316 to the controller 102 of the refuse vehicle 10. The refuse vehicle 10 may use the route data and the stops data to autonomously transport along the route 308 and perform refuse collection at each stop. The route 308 may end at a landfill 304 (e.g., an end location) where the refuse vehicle 10 may autonomously empty collected refuse, transport to a refueling location if necessary, and begin a new route.

Refuse Stream Sorting System

Referring to FIGS. 6-10, the refuse vehicle 10 may be equipped with a stream sorting system 400 that is configured to identify a type of refuse within a waste receptacle (e.g., the refuse container 200) and ensure that the refuse is emptied into an appropriate chamber or collected by a refuse vehicle that is configured to collect that type of refuse. The stream sorting system 400 facilitates sorting garbage from recycling or maintaining separation of different types of refuse.

Referring particularly to FIG. 6, the stream sorting system 400 may be provided on a side-loading refuse vehicle 10. The refuse vehicle 10 includes the lift apparatus 116 on a curbside of the refuse vehicle 10. The lift apparatus 116 may have the form of a robotic arm having multiple articulable joints and a claw or grabber, a tracked lift apparatus including a grabber, or any combination thereof. The stream sorting system 400 can include multiple cameras, shown as first camera 402a, second camera 402b, and third camera 402c. While the cameras 402 are shown disposed on a curb-side of the refuse vehicle 10, the cameras 402 may be positioned on a front of the refuse vehicle 10, a rear, on different corners, at different heights, at different orientations, on a street-side of the refuse vehicle 10, etc. More generally, the cameras 402 are directed outwards such that refuse containers 200 (e.g., first refuse container 200a and second refuse container 200b) are within a field of view of the cameras 402. The cameras 402 may obtain image data of the refuse containers 200 as the refuse vehicle 10 arrives at the refuse containers 200. As shown in FIG. 6, the third camera 402c may be disposed on a claw or portion of the lift apparatus 116.

The refuse vehicle 10 may be a multi-chambered vehicle including at least two refuse compartments, each for a different type of refuse, or may be a single-chambered vehicle including a single refuse compartment for one type of refuse. For example, the refuse vehicle 10 may be a garbage truck or a recycling truck with a single corresponding refuse compartment for garbage or recycling. The refuse vehicle 10 can also be a combination of a garbage truck and a recycling truck so that the refuse vehicle 10 can collect both garbage and recycling. If the refuse vehicle 10 is configured to collect both garbage and recycling (e.g., different types of refuse), the refuse vehicle 10 may include a hopper 60 having two hopper openings for the different types of refuse, shown in FIG. 6 as first hopper opening 62 and second hopper opening 64. Refuse of a first type (e.g., garbage) may be emptied into the first hopper opening 62 and refuse of a second type (e.g., recycling) may be emptied into the second hopper opening 64. The lift apparatus 116 may be configured to selectively transport and empty the refuse containers 200 into one of the first hopper opening 62 or the second hopper opening 64. In some embodiments, the hopper 60 has a partition 66 that is transitionable between different positions or states in order to allow access to one of the first hopper opening 62 or the second hopper opening 64, and to limit access to another of the first hopper opening 62 or the second hopper opening 64. In this way, the lift apparatus 116 and the hopper 60 may be operated to empty refuse into one of a first refuse compartment or a second refuse compartment.

The stream sorting system 400 can also include a radio frequency identification (RFID) detector 404 (e.g., an RFID reader, an RFID transponder, etc.) that is configured to wirelessly transmit energy to proximate RFID tags. The RFID detector 404 may monitor responses that are received from nearby RFID tags. In particular, the refuse containers 200 may include RFID tags that are configured to provide a response signal to the RFID detector 404. The RFID detector 404 may be positioned on the lift apparatus 116 or on an exterior surface of the refuse vehicle 10 such that the RFID detector 404 is sufficiently close to the refuse containers 200 to communicate with RFID tags. The stream sorting system 400 may also include separate QR code scanners or barcode scanners positioned on the lift apparatus 116 (e.g., on the grabber assembly 52) or on a side of the refuse vehicle 10.

Referring particularly to FIG. 9, the hopper 60 is shown to include the first hopper opening 62 and the second hopper opening 64. The hopper 60 includes an overall hopper opening 72 through which refuse may be emptied into the first hopper opening 62 or the second hopper opening 64. The hopper 60 also includes a wall 76 that defines a boundary between the first hopper opening 62 and the second hopper opening 64. The first hopper opening 62 provides access to a first compartment 68 within the body 14 of the refuse vehicle 10, while the second hopper opening 64 provides access to a second compartment 70 within the body 14 of the refuse vehicle 10. The first compartment 68 may be a garbage compartment for the collection and transportation of garbage while the second compartment 70 may be a recycling compartment for the collection and transportation of recyclable materials. The hopper 60 also includes the partition 66 (e.g., a divider, a panel, a movable member, etc.) that is repositionable between a first position as shown and a second position. When the partition 66 is in the first position as shown, the second hopper opening 64 is limited from access while the first hopper opening 62 is accessible from the overall hopper opening 72. Similarly, when the partition 66 is in the second position, the first hopper opening 62 is limited from access while the second hopper opening 64 is accessible from the overall hopper opening 72. The partition 66 is shown pivotally coupled with a pivot point 74 at a top of the wall 76 and operably coupled with an actuator 418 (e.g., a partition actuator) such as an electric motor, a hydraulic cylinder, etc. The pivotal coupling and rotation of the partition 66 as shown and described herein with reference to FIG. 9 is illustrative only and should not be understood as limiting. For example, the partition 66 may be formed by a pair of trap doors that each limit or allow access to a corresponding one of the first hopper opening 62 or the second hopper opening 64 and are independently operable to transition between an open state or a closed state. In some embodiments, the operability of the partition 66 between a first position and a second position or a first orientation and a second orientation is optional if the lift apparatus 116 is capable of operating to empty contents of the refuse containers 200 into the first hopper opening 62 or the second hopper opening 64.

Referring to FIGS. 7 and 8, the controller 102 may be configured to implement various control and display functionality of the stream sorting system 400. The stream sorting system 400 includes the cameras 402, the RFID detector 404, the GPS system 124, the controller 102, the telematics 132, the lift apparatus 116, the hopper actuator 418, and a display device 420, according to some embodiments. As shown in FIG. 7, a given refuse container 200 can include a body 202 that defines a compartment or inner volume for refuse, a pair of wheels 208, handles 206, a lid 204, and printed text 214 or decals. The refuse container 200 may also include an RFID tag 216. The refuse container 200 may also include a quick response (QR) code 212. The refuse container 200 may also include a barcode 210. In some embodiments, one or more portions of the refuse container 200 have different colors to indicate whether the refuse container 200 contains garbage or recyclable materials.

As shown in FIG. 8, the memory 108 of the controller 102 includes image analysis 406, a decoder 408, an RFID manager 410, a pickup planner 412, a control manager 414, and a display manager 416. The image analysis 406 may obtain the image data from the cameras 402 of the refuse containers 200 that are within the field of view of the cameras 402. The image analysis 406 implemented by the processing circuitry 104 of the controller 102 is performed in order to identify a feature of the refuse container 200 in order to predict or identify a type of refuse that is within the refuse container 200 (e.g., whether the refuse container 200 is a recycling container or a garbage can). The image analysis 406 may include identifying a color of the refuse container 200 or one or more portions of the container 200 (e.g., a color of the lid 204, a color of the body 202, etc.), and identifying, based on the detected color of the refuse container 200, the type of refuse that is within the refuse container 200. The image analysis 406 may also be configured to predict the type of refuse within the refuse container 200 based on a shape or size of the refuse container 200. For example, if standard refuse containers are used with different sizes and shapes for recycling as opposed to garbage, the image analysis 406 can be implemented in order to identify, based on the size and shape, whether the refuse container 200 is a recycling container or a garbage can. The image analysis 406 may use the size, shape, and position of features such as the body 202, the handles 206, the lid 204, the wheels 208, etc., alone or in combination with each other.

The image analysis 406 may also identify the text 214 on the refuse container 200. For example, the text 214 on the refuse container may indicate whether the refuse container 200 is a garbage can or a recycling can. The image analysis 406 may perform an optical character recognition (OCR) technique and use a database of terms to identify, based on the text 214, whether the refuse container 200 is a recycling container or a garbage can (e.g., to predict the type of refuse that is within the refuse container 200).

The image analysis 406 may be configured to implement any machine learning, neural network, or artificial intelligence in order to identify whether the refuse container 200 is a garbage can or a recycling container (e.g., to predict a type of refuse within the refuse container 200). For example, the controller 102 may implement the image analysis 406 by performing any of the functionality as described in greater detail in U.S. application Ser. No. 16/758,834, filed Apr. 23, 2020, the entire disclosure of which is incorporated by reference herein. The image analysis 406 may be implemented locally on the controller 102 or remotely by the remote computing system 134. The controller 102, or more generally, the stream sorting system 400, may also be configured to perform any of the functions or techniques to identify the type of refuse in the refuse container 200 or identify the type of refuse container 200 as described in greater detail in U.S. application Ser. No. 17/189,740, filed Mar. 2, 2021, the entire disclosure of which is incorporated by reference herein.

The decoder 408 can also be configured to obtain the image data from the cameras 402 and identify QR codes or bar codes in the image data of the refuse container 200. The decoder 408 may implement a QR code or barcode decoding technique based on the image data of the QR code 212 or the barcode 210 to determine results. The results may indicate a type of refuse container 200 that is present in the image data (e.g., a garbage can or a recycling bin).

The RFID manager 410 is configured to receive the RFID response from the RFID scanner 404 obtained from the RFID tag 216 of the refuse container 200. The RFID manager 410 may analyze the RFID response to determine, based on the RFID response, the type of refuse that should be present in the refuse container 200.

The image analysis 406, the decoder 408, and the RFID manager 410 may be configured to determine, using the above described functionality, a predicted type of refuse that is present in the refuse container 200 and provide their results to the pickup planner 412, the control manager 414, and the display manager 416. The pickup planner 412 may determine, based on the type of refuse in the refuse container 200 and abilities of the refuse vehicle 10 (e.g., the type of refuse that the refuse vehicle 10 is capable of collecting, whether the refuse vehicle 10 has multiple refuse compartments, a fill level of refuse in the refuse compartments, etc.), if the refuse vehicle 10 is capable of emptying the refuse of the refuse container 200 into the hopper 60. If the refuse vehicle 10 is not capable of emptying the refuse of the refuse container 200, the pickup planner 412 may use the GPS location as the container location, and the type of refuse in the refuse container to schedule a pickup by a subsequent refuse vehicle. The pickup planner 412 can provide the container location and the type of refuse in the refuse container 200 to the remote computing system 134 for scheduled pickup at a later time via the telematics 132.

The control manager 414 is configured to use the results of any of the image analysis 406, the decoder 408, or the RFID manager 410 to operate at least one of the lift apparatus 116 or the hopper actuator 418 to empty the contents of the refuse container 200 into the hopper 60 of the refuse vehicle 10. For example, if the refuse vehicle 10 is a single compartment refuse vehicle that is configured to collect the type of refuse that is within the refuse container 200, the control manager 414 may provide control signals to the lift apparatus 116 to grasp, lift, and empty the refuse of the refuse container 200 into the hopper 60. Similarly, if the refuse vehicle 10 is a multi-compartment refuse vehicle, that control manager 414 may operate the hopper actuator 418 to transition the partition 66 into a desired state and operate the lift apparatus 116 to empty contents of the refuse container 200 into the corresponding type of refuse compartment of the refuse vehicle 10 (e.g., the garbage compartment if the type of refuse in the refuse container 200 is garbage or the recycling compartment if the type of refuse in the refuse container 200 is recycling). In some embodiments, the control manager 414 is configured to operate the lift apparatus 116 without operating the hopper actuator 418 to empty the contents of the refuse container 200 into the appropriate hopper opening of the hopper 60 based on the type of refuse in the refuse container 200.

Referring to FIGS. 7 and 8, the display manager 416 may be configured to generate display data and operate the display device 420 to provide the display data to an operator of the refuse vehicle 10 or a user that remotely controls or monitors the refuse vehicle 10. The display data may include various callouts overlaid or superimposed onto a real-world or digital image of the refuse container 200. The callouts may indicate the results of the image analysis 406 and can include lines indicating the corresponding features. For example, as shown in FIG. 7, the display data may include a first callout 602 or visual indication that indicates the results of a container shape (e.g., container shape: garbage). The display data may also include a second callout 604 or visual indication that indicates the results of image analysis of particular features (e.g., color of a particular feature or component such as the lid 204, confidence of results, corresponding type). The display data may also include a third callout 606 that indicates the results of text identification (e.g., OCR of the detected text 214 of the refuse container 200). The display data may also include a fourth callout 608 that indicates the results of QR decoding (e.g., QR code result: garbage). The display data may also include a fifth callout 610 that indicates the results of barcode decoding (e.g., bar code result: garbage).

It should be understood that while FIGS. 6-10 as described herein refer to only two types of refuse (i.e., garbage and recycling), the stream sorting system 400 may be configured to identify any number of types of refuse or refuse containers using the techniques described herein. For example, if different municipalities have separate containers for cardboard recycling as opposed to glass recycling, in addition to having garbage cans, the stream sorting system 400 may be configured to determine which of the three different types of refuse are likely present in the refuse containers 200.

Referring to FIG. 10, a flow diagram of a process 500 for sorting refuse from different refuse containers includes steps 502-514, according to some embodiments. The process 500 may be performed by the stream sorting system 400 of the refuse vehicle 10. The process 500 advantageously facilitates keeping different types of refuse separate as desired. For example, refuse vehicles may autonomously transport along routes and collect garbage and recycling. The refuse vehicles may be equipped with detection sensors in order to infer, based on the feedback from the detection sensors, which of multiple types of refuse are present in the refuse containers. Advantageously, the process 500 facilitates fully autonomous or semi-autonomous waste collection without requiring an operator of the vehicle to manually exit the vehicle and check or move refuse containers.

The process 500 includes obtaining sensor data of a curbside refuse container for pickup (step 502), according to some embodiments. The refuse container may be position on a curb, in front of a refuse vehicle, behind a refuse vehicle, etc. The sensor data may include image data or a reply signal from an RFID tag of the refuse container. The sensor data can be obtained from sensors that are disposed on an exterior of the refuse vehicle. For example, the refuse vehicle can include cameras positioned about a body or cabin of the refuse vehicle that have a field of view pointing outwards from the refuse vehicle towards a location where refuse containers are expected to be located for pickup. Step 502 can be performed by the controller 102 or any other processing unit of the stream sorting system 400 by receiving image data from the cameras 402, RFID responses from the RFID detector 404, etc.

The process 500 includes inferring a type of refuse in the refuse container based on the sensor data (step 504), according to some embodiments. Step 504 can include performing an image analysis or image recognition technique based on features, colors, sizes, shapes, etc., of the refuse container in the image data. Step 504 can also include performing decoding techniques to decode the information contained in a QR cod or a barcode. Step 504 can also include analyzing a response from an RFID tag of the refuse container. Step 504 may be performed by the controller 102 by implementing at least one of the image analysis 406, the decoder 408, or the RFID manager 410.

The process 500 includes identifying if the refuse vehicle is a multi-compartment refuse vehicle (step 506), according to some embodiments. Step 506 may be performed based on known characteristics of the refuse vehicle. Step 506 can be performed by the controller 102. If the refuse vehicle is a multi-compartment refuse vehicle (step 506, “YES”), process 500 may proceed to step 508. If the refuse vehicle is not a multi-compartment refuse vehicle (step 506, “NO”), process 500 proceeds to step 510.

The process 500 includes operating at least one of a lift apparatus or a divider actuator to empty the refuse of the refuse container into one of the compartments of the refuse vehicle (step 508), according to some embodiments. Step 508 may include operating the lift apparatus 116 (e.g., a robotic arm, a side loading arm of a refuse vehicle, etc.) and the actuator 418 in order to empty the contents of the refuse container into one of the first compartment 68 or the second compartment 70 through the hopper 60. Step 508 may include operating the lift apparatus 116 to empty contents of the refuse container into a hopper opening corresponding to the desired compartment without requiring operation of the divider actuator if the lift apparatus 116 is operably capable of lifting the refuse container to different locations of the hopper. Step 508 can be performed by the controller 102 by generating and providing controls to the lift apparatus 116 and the actuator 418. Step 508 may be performed if the refuse vehicle is a multi-compartment refuse vehicle and has sufficient storage space in a target compartment for the contents of the refuse container.

The process 500 includes identifying if the type of refuse inferred at step 504 is supported by the refuse vehicle (step 510) if the refuse vehicle is not a multi-compartment refuse vehicle (step 506, “NO”), according to some embodiments. Step 510 may include using stored data regarding whether the refuse vehicle is intended to collect garbage or recycling or whether the refuse vehicle is currently collecting garbage, recycling, or a different type of refuse. Step 510 can be performed by the controller 102 based on known characteristics or current route of the refuse vehicle. Step 510 can include comparing the type of refuse that the refuse vehicle is intended to collect to the type of refuse that is inferred to be present within the refuse container. If the type of refuse that the refuse vehicle is intended to collect matches the type of refuse that is inferred to be present in the refuse container (step 510, “YES”), process 500 proceeds to step 512. If the type of refuse that the refuse vehicle is intended to collect does not match the type of refuse that is inferred to be present in the refuse container (e.g., the refuse vehicle is a garbage truck and the refuse container is a recycling bin) (step 510, “NO”), process 500 proceeds to step 514.

The process 500 includes operating the lift apparatus to empty the refuse into the refuse vehicle (step 512) in response to determining that the type of refuse inferred to be present in the refuse container matches or is supported by the refuse vehicle (step 510, “YES”), according to some embodiments. Step 512 can be performed by the controller 102 by operating the lift apparatus 116 to lift and empty contents of the refuse container into a hopper of the refuse vehicle 10.

The process 500 includes scheduling subsequent pickup of the refuse container (step 514) if the type of refuse inferred to be present in the refuse container does not match or is not supported by the refuse vehicle (step 510, “NO”), according to some embodiments. Step 510 can be performed by the controller 102 (e.g., by the pickup planner 412) by providing type of the container (e.g., type of the refuse inferred to be present in the refuse container) and a location (e.g., a GPS location) of the container to a remote computing system (e.g., a fleet management system, a route planning system, etc.) such as the remote computing system 134. The remote computing system can use the indication of the type of the container or refuse and the location to schedule pickup by an appropriate refuse vehicle. For example, if the refuse vehicle is a recycling truck and infers that the refuse container is a garbage can, the remote computing system may schedule and dispatch collection of the contents of the garbage can based on the type of the container and the location provided by the controller 102.

Contaminant Object or Material Detection and Sorting

Referring to FIGS. 11-21, the vehicle 10 may include a material detection and sorting system 1000 that is configured to detect or identify one or more objects in refuse emptied from the refuse container 200 and sort the identified objects into a separate hopper or refuse compartment. The detection and sorting system 1000 includes one or more imaging devices, shown as cameras 1002 that are configured to obtain image data of refuse emptied into the hopper 60 of the refuse vehicle 10 or into an intermediate can that is emptied into the hopper 60 of the refuse vehicle (e.g., an intermediate can on a front loading refuse vehicle, a side loading refuse vehicle, or a rear loading refuse vehicle). The detection and sorting system 1000 is configured to detect different predetermined objects that have different disposal requirements (e.g., additional cost to dispose of the object) such as tires, rubber objects, televisions, washing machines or other appliances, large objects, branches, tree materials, garden materials, etc.

Referring particularly to FIG. 6, the refuse vehicle 10 includes the hopper 60 that includes two hopper openings, shown as hopper opening 62 which allows the ingress of refuse to a first refuse compartment 30a and hopper opening 64 which allows the ingress of refuse into a second refuse compartment 30b. The lift apparatus 116 may be configured to lift and empty contents of the refuse container 200 into the hopper opening 62 for regular refuse collection. The hopper 60 includes one or more of the cameras 1002 disposed about the hopper 60 and configured to obtain image data of refuse that is emptied into the hopper opening 62. The detection and sorting system 1000 also includes a robotic arm implement 700 that is configured to be operated responsive to detection based on the image data obtained by the cameras 1002. For example, the robotic arm implement 700 may include multiple boom segments or armatures that are pivotally coupled at their ends with each other and are configured to be driven to rotate relative to each other to lift or move objects detected in the image data. The robotic arm implement 700 also includes a grabber assembly (e.g., a claw having articulable fingers) disposed at an end of the boom segments that is configured to grasp objects detected in the hopper opening 62.

The hopper opening 62 may feed into the first refuse compartment 30a such that refuse emptied into the first hopper opening 62 is directed to the first refuse compartment 30a, while the hopper opening 64 feeds into the second refuse compartment 30b that is separate from the first refuse compartment such that refuse emptied into the second hopper opening 64 feeds into the second refuse compartment 30b. The robotic arm implement 700 is configured to be operated to grasp an object (e.g., a television, an appliance, etc.), lift the object out of the hopper opening 62 and place the object in the hopper opening 64. The hopper opening 62 and the hopper opening 64 are defined by divider 66 that extends between the hopper opening 62 and the hopper opening 64. The robotic arm implement 700 is configured to move objects between either side of the divider 66, based on the image data of the cameras 1002, from the hopper opening 62 to the hopper opening 64 in order to separate certain types of objects from normal refuse. For example, the second refuse compartment 30b may be provided for hazardous materials or materials that should be kept separate from regular refuse, while the first refuse compartment 30a is provided for regular refuse. The first refuse compartment 30a and the second refuse compartment 30b may be the same size or may be different sizes (e.g., as shown in FIG. 8).

Referring to FIG. 12, the refuse vehicle 10 may be equipped with the robotic arm implement 700 without a divided body. The robotic arm implement 700 can be operated based on the image data obtained from the cameras 1002 to grasp and remove certain types of objects from the hopper 60. The robotic arm implement 700 can be operated to grasp, remove, and set the objects (e.g., appliances, tires, chemicals, oil containers, or other contaminants) back to the ground surface at which the refuse container 200 was obtained from. In particular, the robotic arm implement 700 may be configured to reject certain objects from the hopper 60 that should not be packed into the refuse compartment 30 and return them to the customer. In some embodiments, the refuse vehicle 10 includes the cameras 1002 without the robotic arm implement 700 such that the image data can be used to identify or predict a particular location of the refuse compartment 30 at which the object is present (e.g., which portion of the packed load of refuse in the refuse compartment 30 at which the object is present).

Referring to FIG. 13, the refuse vehicle 10 may be configured as a front loading refuse vehicle having an intermediate can, shown as intermediate container 800. The intermediate container 800 includes the grabber assembly 52 and the lift assembly 50 disposed on a side of the intermediate container 800 (e.g., on a curb-side of the intermediate container 800). The intermediate container 800 includes one of the cameras 1002 disposed on an edge and configured to obtain image data of contents of the intermediate container 800. The intermediate container 800 can also include the robotic arm implement 700 may be positioned on a side of the intermediate container 800 in order to remove detected objects from the intermediate container 800 or may be positioned proximate the hopper 60 in order to remove objects from the hopper 60 after the intermediate container 800 has been emptied into the hopper 60. As shown in FIG. 13, the first refuse compartment 30a may be larger than the second refuse compartment 30b. The front end loading refuse vehicle 10 shown in FIG. 13 with the intermediate container 800 may include equally sized first refuse compartment 30a and second refuse compartment 30b. If a particular object is detected in the intermediate container 800 by the camera(s) 602 of the intermediate container 800, the robotic arm implement 700 may be configured to locate the object based on the image data from the cameras 1002 of the hopper 60, grasp the object, and remove the object from the first hopper opening 62 and place the object in the second hopper opening 64 for storage in the second refuse compartment 30b.

Referring to FIG. 14, the hopper may include a first arm 65a and a second arm 65b that are pivotally coupled at a single end with pivot point 74 at the top of partition 66. In some embodiments, the hopper 60 includes a pair of hopper actuators 418 that are each operably coupled with a corresponding one of the arms 65. Each of the arms 65 may be transitionable, by operation of the hopper actuators 418, into an open position and a closed position. As shown in FIG. 14, the first arm 65a is in the closed position such that refuse emptied into the hopper 60 through the overall hopper opening 72 is limited from being directed into the first hopper opening 62. On the other hand, the second arm 65b is shown in the open position such that refuse emptied into the overall hopper opening 72 is allowed to fall into the second hopper opening 64 such that the refuse can be directed into the second refuse compartment 30b through the second compartment opening 70. Each of the arms 65 may be transitionable between the open position and the closed position independently to direct refuse into either the first refuse compartment 30a or the second refuse compartment 30b. Similarly, the robotic arm implement 700 may be operated in coordination with the operation of the arms 65 such that detected objects are lifted out of one of the hopper openings 62 or 64 and moved into the other of the hopper openings 62 or 64 for stowage of the detected object in a particular compartment. If the refuse vehicle 10 is not equipped with the robotic arm implement 700, the arms 65 can be transitioned in order to direct an entire load of refuse that includes a detected hazardous material or specific object into one of the first refuse compartment 30a or the second refuse compartment 30b.

Referring to FIG. 15, the detection and sorting system 1000 can include the cameras 402 of the stream sorting system 400 in order to scan the refuse containers 200 and detect or infer the presence of a hazardous material in the refuse container 200. The image data obtained from the cameras 402 may be used by a controller of the detection and sorting system 1000 using an image recognition technique to detect or identify the presence of a particular type of object in the refuse containers 200. For example, if a washing machine, microwave, or freezer is protruding from a top of the refuse container 200 and is visible, the cameras 402 (e.g., the camera 402c) may obtain image data of the refuse container 200 and identify the presence of the washing machine, microwave, or freezer. The detection and sorting system 1000 may also include sensors or detectors configured to emit waves that can propagate through a side of the refuse container 200 in order to detect the presence of particular objects within the refuse container 200.

Referring to FIG. 16, a diagram illustrates image data 900 that may be obtained by the cameras 1002 on the intermediate container 800. The image data 900 includes a view of an interior of the intermediate container 800 illustrating refuse 904 and tires 902. Tires 902 may be one of the objects that can be detected and should be put into a different refuse compartment 30. The image data 900 can be used (e.g., analyzed) in order to detect the presence and location of the tires 902 in the intermediate container 800 such that the robotic arm implement 700 can be operated to grasp and remove the tires 902 once the contents of the intermediate container 800 are emptied into the hopper 60. Image data obtained from cameras 1002 of the hopper 60 may be similar to the image data 900 shown in FIG. 16 and can be used to operate the robotic arm implement 700 in order to grasp and move the tires 902 or other objects detected in the image data 900.

Referring to FIG. 17, the robotic arm implement 700 may include a base portion 702 that is pivotally coupled with a base surface 710 (e.g., a portion of the hopper 60) through a pivotal or rotatable coupler 704. The robotic arm implement 700 may include a rotary actuator 708 (e.g., an electric motor) configured to drive rotation of the robotic arm implement 700 about a corresponding axis 742 that extends through the rotatable coupler 704 in either direction. The base portion 702 also includes a pivotal coupling 706 defining a pivot point 718. The pivotal coupling 706 is fixedly coupled with the rotatable coupler 704. An arm assembly 744 is coupled with the base portion 702 at the pivot point 718. The arm assembly 744 is shown to include a first boom section 712 and a second boom section 724 but may include any number of boom sections as required in order to provide sufficient reach. The first boom section 712 may be a telescoping member including an outer member 714 that is pivotally coupled at a first end with the pivot point 718, and an inner member 716 that is received within the outer member 714 and can translate relative to the outer member 714 in order to extend or retract the first boom section 712. The robotic arm implement 700 may include a first actuator 722 that is coupled at a first end with the outer member 714 and at an opposite end with the rotatable coupler 704. The first actuator 722 is configured to extend or retract to drive the arm assembly 744 to rotate about the pivot point 718. The first boom section 712 may include an extension actuator 720 that is configured to extend or retract to drive the extension or retraction of the first boom section 712 (e.g., to drive the inner member 716 to translate relative to the outer member 714).

The second boom section 724 is pivotally coupled with an end of the inner member 716 at pivot point 726. The second boom section 724 may be driven to rotate about the pivot point 726 by extension or retraction of actuator 728. The second boom section 724 can be rotatably coupled with an end portion 730. The end portion 730 may be driven to rotate relative to the second boom section 724 about an axis extending lengthwise through the second boom section 724 by a rotary actuator 732. The rotary actuator 732 may be similar to the rotary actuator 708. The robotic arm implement 700 may also include a claw assembly 740 that is coupled with the second boom section 724. The claw assembly 740 may include a carriage 736 that is pivotally coupled with the end portion 730 and is configured to be driven to rotate (e.g., pivot, hinge, swivel, etc.) relative to the end portion 730 by actuators 734. The claw assembly 740 can include multiple fingers, shown as fingers 738 each including articulable sections pivotally coupled with each other and driven to articulate to grasp or release an object by operation of corresponding actuators.

Referring to FIGS. 18 and 19, the refuse containers 200 may include cameras 402 configured to obtain image data of an inner volume 220 of the refuse containers 200. The cameras 402 can be positioned along an upper edge of the refuse containers 200 and may be directed downwards towards the inner volume 220 in order to obtain image data of the interior of the refuse container 200. The refuse containers 200 may include motion detectors 424 that are configured to detect motion and trigger activation of the camera 402 to obtain image data. In some embodiments, the camera 402 obtains image data periodically. The refuse containers 200 may include a power source 426 (e.g., a battery, a solar panel, etc.) configured to provide electrical power to the camera 402, the motion detector 424, and a control unit 422. The control unit 422 may include a wireless transceiver (e.g., a transponder, a radio, an RFID tag, a near field communications circuit, etc.) configured to receive power from the power source 426 and provide wireless signals including the image data obtained by the cameras 402.

The camera 402 of the refuse containers 200 can be configured to obtain image data as people place refuse into the refuse containers 200. For example, the individual or customer may place tires 902 at a bottom of the refuse container 200 and then cover the tires 902 (or other restricted objects such as cans of car oil, appliances, batteries, etc.) with garbage bags 906. The camera 402 may be configured to obtain image data of the tires 902 when the tires 902 or other restricted object are first placed in the refuse containers 200. The image data of the interior of the refuse container 200 that is obtained by the camera 402 may be stored in memory of a controller of the control unit 422 and transmitted (e.g., to a controller of the refuse vehicle 10, to the remote computing system 134, etc.) wirelessly via the wireless transceiver.

Referring to FIG. 20, the detection and sorting system 1000 includes the controller 102 that is configured to receive various inputs from data sources. In particular, the controller 102 may receive image data from the cameras 402 (e.g., externally facing cameras) and the cameras 1002 (e.g., cameras that obtain image data of the hopper 60 or the intermediate container 800). The controller 102 may also receive image data from the control unit 422 of the refuse container 200 as the refuse vehicle 10 pulls up to or approaches the refuse container 200. For example, the detection and sorting system 1000 may include an RFID detector (e.g., a transceiver) or any other wireless transceiver positioned on a grabber of the lift apparatus 116 (e.g., the grabber assembly 52) such that the wireless transceiver can receive data from the control unit 422. In some embodiments, the control unit 422 includes the camera 402 and is configured to receive wireless power from the RFID detector 404 or wireless transceiver of the detection and sorting system 1000 when the RFID detector 404 or wireless transceiver is proximate the control unit 422 at pickup. The control unit 422 may use the wirelessly transmitted power to respond with the image data stored in memory, or may use the wirelessly transmitted power to operate the camera 402 of the refuse container 200 to provide the image data. In this way, the control unit 422 and the camera 402 at the refuse container 200 may not necessarily require a power source and can use the wirelessly transmitted power in order to operate, or to operate if the power source at the refuse container 200 has failed.

The memory 108 of the controller 102 may include an object detector 1006, a control manager 1008, a display manager 1010, and a packing tracker 1012. The object detector 1006 may use similar techniques as the image analysis 406 described in greater detail above but in order to detect different types or classes of objects that should be separated from ordinary refuse. For example, the object detector 1006 may be implemented to perform similar image analysis or object detection techniques in order to detect chemicals, canisters, tanks, appliances, tires, oil cans, etc., or any other object that should be separated from regular refuse. The object detector 1006 is configured to provide results to the control manager 1008 or the display manager 1010.

The control manager 1008 is configured to use the results of the object detector 1006 to determine controls for the hopper actuator(s) 418, the lift apparatus 116 (e.g., the lift assemblies 50, the grabber assemblies 52, the lift assembly 40, etc.), and the robotic arm implement 700. The control manager 1008 may operate any of the hopper actuators 418, the lift apparatus 116, or the robotic arm implement(s) 700 as available on the refuse vehicle 10 to either move objects from one hopper opening 62 to another hopper opening 64 (e.g., from one side of the partition 66 to another side of the partition 66). For example, the control manager 1008 may operate the robotic arm implement 700 coordinated with operation of the hopper actuators 418 to lift a detected object from one side of the partition 66 to another side of the partition 66 for storage in a different refuse compartment 30. The control manager 1008 may also operate the robotic arm implement 700 to remove detected objects from the hopper 60 and place the objects back onto a ground surface in cases where the refuse vehicle 10 only includes a single refuse compartment 30, or if the refuse compartment 30 designated for that type of object is full. The control manager 1008 can be configured to use the results of the object detector 1006 to target the object within the hopper 60 or within the intermediate container 800 and operate the robotic arm implement 700 to grasp the object and move the object to a desired location (e.g., to a different hopper, back to the ground, etc.). In some implementations of the refuse vehicle 10, the refuse vehicle 10 does not include the robotic arm implement 700, and the entire contents of the refuse container 200 are directed into the refuse compartment 30 by operation of the hopper actuators 418 in response to detecting an object in the contents of the refuse container 200 that should be kept separate from ordinary or regular refuse.

The display manager 1010 can be configured to generate display data for the display device 420 indicating a type of object detected and a location in the hopper 60 or the intermediate container 800 that the object is detected. The display manager 1010 can be configured to notify the operator of the refuse vehicle 10 regarding the detected object and provide a GUI that includes the image data of the cameras 402 or the cameras 1002 with the detected object highlighted. The controller 102 may also transmit, to the remote computing system 134, via the telematics 132, the customer location (e.g., the container location) and the object detected in the refuse container 200. The remote computing system 134 can be configured to use the received information in order to either charge the customer additional charges for the pickup of the detected object (e.g., additional charge for picking up and disposal of a freezer) or in order to provide training to the customer regarding which objects can be disposed of in the refuse container 200.

The packing tracker 1012 may be configured to use the results of the object detector 1006 and the image data in order to track a location within the refuse compartment 30 of one or more of the detected objects. For example, the packing tracker 1012 can be configured to estimate or monitor an amount of refuse that is loaded into the refuse compartment 30 based on image data provided by the cameras 1002 and the cameras 402. The packing tracker 1012 can also be configured to monitor points in time (e.g., based on fill amount of the refuse container 30) at which a detected object as provided by the object detector 1006 is loaded into the refuse compartment 30. The packing tracker 1012 may determine (e.g., estimate) a location within the refuse compartment 30 of the detected object (e.g., the hazardous or quarantine object) based on operations of a packer assembly 430 within the refuse compartment 30 that compacts the refuse. The packing tracker 1012 can also use feedback from a hopper fill sensor to identify a relative point at which the detected object is loaded in the refuse compartment 30 and predict a location within the refuse compartment 30 of the detected object. The packing tracker 1012 can be configured to predict the location of the detected object within the refuse compartment 30 by using the results of the object detector 1006 in combination with any of the functionality as described in greater detail with reference to: U.S. application Ser. No. 10/943,182, filed Sep. 16, 2004, issued as U.S. Pat. No. 7,108,473; U.S. application Ser. No. 10/389,195, filed Mar. 14, 2003, issued as U.S. Pat. No. 6,799,934; or U.S. application Ser. No. 18/342,343, filed Jun. 27, 2023, the entire disclosures of which are all incorporated by reference herein in their entireties. The object detector 1006 may have a list of objects (e.g., a database of detectable objects) that the object detector 1006 is configured to identify in the image data as well as a corresponding type (e.g., whether the detected object should be separated from other refuse).

The detection and sorting system 1000 can also be configured to achieve the detection of objects (e.g., hazardous objects, quarantine objects, objects of a particular type that should be kept separate from regular refuse) and operate to either move the detected objects into separate compartments, track the detected objects within the refuse compartment 30, or reject the objects by implementing any of the functionality as described in greater detail in U.S. application Ser. No. 16/758,834, filed Apr. 23, 2020, issued as U.S. Pat. No. 11,527,072, or U.S. application Ser. No. 16/851,196, filed Apr. 17, 2020, issued as U.S. Pat. No. 11,673,563, the entire disclosures of which are all incorporated by reference herein in their entireties.

The packing track 1012 can be configured to operate the packer 430 and lift cylinders 432 of the refuse vehicle to perform a dumping or ejection operation by raising the body 14 of the refuse vehicle 10 relative to the chassis 12 (e.g., operating the lift cylinders 432), and operating the packer 430 to drive discharge of the refuse in the refuse compartment 30. The packing tracker 1012 may operate the display device 420 to notify the operator regarding the location of the detected and tracked objects in the ejected load. The packing tracker 1012 can also implement autonomous or semi-autonomous transportation and ejection of portions of the load in the refuse compartment 30 at a first location, and portions of the load in the refuse compartment 30 where the detected object is predicted to be present at a second location.

Referring to FIG. 21, a flow diagram of a process 1100 for quarantining or segregating hazardous or particular objects from regular refuse includes steps 1102-1106, according to some embodiments. The process 1100 may be performed by the detection and sorting system 1000 in order to separate certain objects such as cans of oil, appliances, etc., from regular refuse such as kitchen garbage, small items, etc. The process 1100 advantageously facilitates physically separating and quarantining objects from their respective loads of refuse either into a separate refuse compartment, or entirely quarantining the load of refuse from the customer's refuse container into the separate refuse compartment. The process 1100 can also be performed in order to reject the detected objects by placing them back at the customer's pickup spot.

The process 1100 includes obtaining sensor data that indicates a presence of an object in a quantity of refuse (step 1102), according to some embodiments. Step 1102 can be performed by obtaining image data from the cameras 1002 or the cameras 402 of the refuse vehicle 10. Step 1102 can also include wirelessly receiving image data from a camera that is positioned at the customer's refuse container. The image data may be image data of a hopper, the interior of the customer's refuse container, or an interior of an intermediate hopper or container.

The process 1100 includes detecting the object based on the sensor data (step 1104), according to some embodiments. Step 1104 can be implemented by the controller 102 by using a machine learning, artificial intelligence, or neural network technique to detect the object from a library of different objects. Step 1104 may include additionally identifying a position of the object relative to a position or location of the camera that obtains the image data.

The process 1100 includes operating a system of the refuse vehicle to move the detected object or the quantity of refuse from other refuse of a refuse compartment of the refuse vehicle (step 1106), according to some embodiments. Step 1106 can be performed by the controller 102 by operating the hopper actuators 418 to direct the entire load (e.g., the quantity) of refuse from the customer's refuse container into a separate refuse compartment (e.g., the refuse compartment 30b). Step 1106 can also be performed by the controller 102 by operating the robotic arm implement 700 based on the image data of the detected object to remove the detected object from the quantity of refuse of the customer's refuse container and to place the object into a separate hopper location or into a separate refuse compartment (e.g., the refuse compartment 30b). Step 1106 can also be performed by the controller 102 by operating the robotic arm implement 700 to remove the detected object from the hopper 60 of the refuse vehicle 10 and return the object to the customer's pickup location (e.g., rejecting the pickup of the object).

Referring to FIG. 22, a flow diagram of a process 1200 for tracking a detected object in a load of a refuse vehicle includes steps 1102-1104 and steps 1206-1210, according to some embodiments. The process 1200 can be implemented by the detection and sorting system 1000 similarly to the process 1100. The process 1200 may be performed instead of the process 1100, for example, if the refuse vehicle 10 is not equipped with multiple refuse compartments.

The process 1200 includes steps 1102-1104 that are substantially the same as steps 1102-1104 of process 1100. The process 1200 also includes predicting a location of the object in a refuse compartment of the refuse vehicle (step 1206), according to some embodiments. Step 1206 may be performed by the controller 102 by implementing the functionality of the packing tracker 1012. In some embodiments, step 1206 includes using various sensor data that indicates a quantity of refuse that has been packed into the refuse compartment in combination with a point at which the detected object is packed into the refuse compartment. For example, if the detected object is packed into the refuse compartment at the refuse vehicle's last pickup, the detected object may be predicted to be at distal end of the refuse compartment. Similarly, if the detected object is packed into the refuse compartment at the refuse vehicle's first pickup, the detected object may be predicted to be at a proximate end of the refuse compartment.

The process 1200 includes operating a display screen to notify an operator of the refuse vehicle regarding the predicted location of the object (step 1208), according to some embodiments. Step 1208 may be performed by the controller 102 by implementing the functionality of the display manager 1010 or the packing tracker 1012 in order to display a graphical representation of the load of the refuse compartment and the predicted location of the object within the load of the refuse compartment.

The process 1200 includes adjusting a discharge operation of the refuse vehicle based on the predicted location of the detected object in the refuse compartment (step 1210), according to some embodiments. Step 1210 can include autonomously or semi-autonomously ejecting portions of the loaded refuse in the refuse compartment to different locations. For example, portions of the refuse compartment where the object is predicted to be located may be ejected at a separate location. In some embodiments, step 1210 includes operating a display device to notify an operator when the detected object is being ejected. Step 1210 may also include transmitting a signal to a nearby robotic arm implement that is autonomously or manually controlled in order to grab and move the detected object after is it ejected from the refuse vehicle 10.

The present disclosure contemplates methods, systems, and program products on any machine-readable media for accomplishing various operations. The embodiments of the present disclosure may be implemented using existing computer processors, or by a special purpose computer processor for an appropriate system, incorporated for this or another purpose, or by a hardwired system. Embodiments within the scope of the present disclosure include program products comprising machine-readable media for carrying or having machine-executable instructions or data structures stored thereon. Such machine-readable media can be any available media that can be accessed by a general purpose or special purpose computer or other machine with a processor. By way of example, such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a general purpose or special purpose computer or other machine with a processor. When information is transferred or provided over a network or another communications connection (either hardwired, wireless, or a combination of hardwired or wireless) to a machine, the machine properly views the connection as a machine-readable medium. Thus, any such connection is properly termed a machine-readable medium. Combinations of the above are also included within the scope of machine-readable media. Machine-executable instructions include, for example, instructions and data which cause a general purpose computer, special purpose computer, or special purpose processing machines to perform a certain function or group of functions.

As utilized herein, the terms “approximately,” “about,” “substantially,” and similar terms are intended to have a broad meaning in harmony with the common and accepted usage by those of ordinary skill in the art to which the subject matter of this disclosure pertains. It should be understood by those of skill in the art who review this disclosure that these terms are intended to allow a description of certain features described and claimed without restricting the scope of these features to the precise numerical ranges provided. Accordingly, these terms should be interpreted as indicating that insubstantial or inconsequential modifications or alterations of the subject matter described and claimed are considered to be within the scope of the invention as recited in the appended claims.

It should be noted that the terms “exemplary” and “example” as used herein to describe various embodiments is intended to indicate that such embodiments are possible examples, representations, and/or illustrations of possible embodiments (and such term is not intended to connote that such embodiments are necessarily extraordinary or superlative examples).

The terms “coupled,” “connected,” and the like, as used herein, mean the joining of two members directly or indirectly to one another. Such joining may be stationary (e.g., permanent, etc.) or moveable (e.g., removable, releasable, etc.). Such joining may be achieved with the two members or the two members and any additional intermediate members being integrally formed as a single unitary body with one another or with the two members or the two members and any additional intermediate members being attached to one another.

References herein to the positions of elements (e.g., “top,” “bottom,” “above,” “below,” “between,” etc.) are merely used to describe the orientation of various elements in the figures. It should be noted that the orientation of various elements may differ according to other exemplary embodiments, and that such variations are intended to be encompassed by the present disclosure.

Also, the term “or” is used in its inclusive sense (and not in its exclusive sense) so that when used, for example, to connect a list of elements, the term “or” means one, some, or all of the elements in the list. Conjunctive language such as the phrase “at least one of X, Y, and Z,” unless specifically stated otherwise, is otherwise understood with the context as used in general to convey that an item, term, etc. may be either X, Y, Z, X and Y, X and Z, Y and Z, or X, Y, and Z (i.e., any combination of X, Y, and Z). Thus, such conjunctive language is not generally intended to imply that certain embodiments require at least one of X, at least one of Y, and at least one of Z to each be present, unless otherwise indicated.

It is important to note that the construction and arrangement of the systems as shown in the exemplary embodiments is illustrative only. Although only a few embodiments of the present disclosure have been described in detail, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters, mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited. For example, elements shown as integrally formed may be constructed of multiple parts or elements. It should be noted that the elements and/or assemblies of the components described herein may be constructed from any of a wide variety of materials that provide sufficient strength or durability, in any of a wide variety of colors, textures, and combinations. Accordingly, all such modifications are intended to be included within the scope of the present inventions. Other substitutions, modifications, changes, and omissions may be made in the design, operating conditions, and arrangement of the preferred and other exemplary embodiments without departing from scope of the present disclosure or from the spirit of the appended claims.

Claims

1. A refuse vehicle, comprising: a body defining a pair of refuse compartments;a hopper configured to receive refuse and direct the refuse into one of the pair of refuse compartments;a robotic arm implement;a plurality of cameras positioned at the hopper; andprocessing circuitry configured to: obtain image data of the hopper from the plurality of cameras;detect an object to be separated from other refuse in the hopper based on the image data; andoperate the robotic arm implement to move the object from a first part of the hopper to a second part of the hopper for storage in one of the pair of refuse compartments separate from the other refuse.

2. The refuse vehicle of claim 1, wherein the processing circuitry is configured to obtain at least part of the image data from a camera positioned within a customer's refuse container.

3. The refuse vehicle of claim 1, wherein the processing circuitry is configured to communicate with a camera coupled to a customer's refuse container and configured to obtain image data of an interior of the customer's refuse container, the processing circuitry configured to obtain the image data of the interior of the customer's refuse container and detect an object to be separate from the other refuse.

4. The refuse vehicle of claim 1, wherein the object comprises an object having a disposal requirement that is different than the other refuse.

5. The refuse vehicle of claim 4, wherein the object comprises a tire, a container of liquid, an appliance, or garden materials.

6. The refuse vehicle of claim 1, wherein the object is a first object that the second part of the hopper is configured to dispose of, wherein the processing circuitry is further configured to: detect a second object to be rejected from the other refuse in the hopper based on the image data; andoperate the robotic arm implement to move the second object from the hopper to a ground surface.

7. The refuse vehicle of claim 6, wherein the second object is a type of object that is not supported for disposal by the refuse vehicle.

8. A control system for a refuse vehicle, the control system comprising: a robotic arm implement;a plurality of cameras positioned at a hopper of the refuse vehicle; andprocessing circuitry configured to: obtain image data of the hopper from the plurality of cameras;detect an object to be separated from other refuse in the hopper based on the image data; andoperate the robotic arm implement to move the object from a first part of the hopper to a second part of the hopper for storage in one of the pair of refuse compartments separate from the other refuse.

9. The refuse vehicle of claim 8, wherein the processing circuitry is configured to obtain at least part of the image data from a camera positioned within a customer's refuse container.

10. The refuse vehicle of claim 8, wherein the processing circuitry is configured to communicate with a camera coupled to a customer's refuse container and configured to obtain image data of an interior of the customer's refuse container, the processing circuitry configured to obtain the image data of the interior of the customer's refuse container and detect an object to be separate from the other refuse.

11. The refuse vehicle of claim 8, wherein the object comprises an object having a disposal requirement that is different than the other refuse.

12. The refuse vehicle of claim 11, wherein the object comprises a tire, an appliance, or garden materials.

13. The refuse vehicle of claim 8, wherein the object is a first object that the second part of the hopper is configured to dispose of, wherein the processing circuitry is further configured to: detect a second object to be rejected from the other refuse in the hopper based on the image data; andoperate the robotic arm implement to move the second object from the hopper to a ground surface.

14. The refuse vehicle of claim 13, wherein the second object is a type of object that is not supported for disposal by the refuse vehicle.

15. A refuse vehicle comprising: a body defining a pair of refuse compartments;a hopper configured to receive refuse and direct the refuse into one of the pair of refuse compartments;a plurality of cameras position at the hopper; andprocessing circuitry configured to: obtain image data of the hopper from the plurality of cameras;detect an object to be separated from other refuse in the hopper based on the image data; andoperate the hopper to direct the refuse in the hopper including the object into one of the pair of refuse compartments separate from other refuse.

16. The refuse vehicle of claim 15, wherein the processing circuitry is configured to operate a hopper actuator to operate the hopper, the hopper actuator configured to drive a first arm or a second arm of the hopper to direct refuse and the object into one of the pair of refuse compartments.

17. The refuse vehicle of claim 15, wherein the processing circuitry is configured to obtain at least part of the image data from a camera positioned within a customer's refuse container.

18. The refuse vehicle of claim 15, wherein the processing circuitry is configured to communicate with a camera coupled to a customer's refuse container and configured to obtain image data of an interior of the customer's refuse container, the processing circuitry configured to obtain the image data of the interior of the customer's refuse container and detect an object to be separate from the other refuse.

19. The refuse vehicle of claim 15, wherein the object comprises an object having a disposal requirement that is different than the other refuse.

20. The refuse vehicle of claim 19, wherein the object comprises a tire, a container of liquid, an appliance, or garden materials.