Patent ID: 11899460
Assignee: OSHKOSH CORPORATION
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 10:
11. A method for detecting a refuse can, the method comprising:
receiving data from one or more sensors positioned on a refuse collection vehicle;
processing the data via a single-stage object detector to identify the refuse can;
determining a position of the refuse can with respect to the refuse collection vehicle;
generating a first trajectory for the refuse collection vehicle, the first trajectory including a series of movements to position the refuse collection vehicle proximate to the position of the refuse can;
generating a second trajectory for an actuator assembly coupled to the refuse collection vehicle, the second trajectory indicating a series of movements to be executed by the actuator assembly to engage the refuse can; and
initiating a control action to move at least one of the refuse collection vehicle, using at least one movement of the series of movements included in the first trajectory, towards the position of the refuse can or the actuator assembly, using at least one movement of the series of movements included in the second trajectory, to engage the refuse can.