Patent Publication Number: US-2022234822-A1

Title: Refuse collection vehicle controls

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. patent application Ser. No. 16/857,056, entitled “Refuse Collection Vehicle Controls,” filed Apr. 23, 2020, which claims the benefit under 35 U.S.C. § 119(e) of U.S. Patent Application No. 62/837,576, entitled “Refuse Collection Vehicle Controls,” filed Apr. 23, 2019, which are incorporated herein by reference in their entirety. 
    
    
     TECHNICAL FIELD 
     This disclosure relates to systems and method for operating a refuse collection vehicle to engage a refuse container. 
     BACKGROUND 
     Refuse collection vehicles have been used for generations for the collection and transfer of waste. Traditionally, collection of refuse with a refuse collection vehicle required two people: (1) a first person to drive the vehicle and (2) a second person to pick up containers containing waste and dump the waste from the containers into the refuse collection vehicle. Technological advantages have recently been made to reduce the amount of human involvement required to collect refuse. For example, some refuse collection vehicles include features that allow for collection of refuse with a single operator, such as mechanical or robotic lift arms. 
     SUMMARY 
     Many aspects of the disclosure feature operating a mechanical lift arm and grabber  113  to perform refuse collection. 
     In an example implementation, a refuse collection vehicle includes a grabber that is operable to engage a refuse container, a lift arm that is operable to lift a refuse container, at least one sensor that is arranged to collect data indicating an angular position of the grabber, at least one sensor that is arranged to collect data indicating a relative positioning of the lift arm, a first controller for adjusting the angular position of the grabber, and a second controller adjusting the relative positioning of the lift arm. The adjustment of the angular position of the grabber is coordinated with the adjustment of the relative positioning of the lift arm. 
     In an aspect combinable with the example implementations, the first controller includes one or more push buttons. 
     In another aspect combinable with any of the previous aspects, adjusting the angular position of the grabber includes manually engaging at least one of the one or more push buttons. 
     In another aspect combinable with any of the previous aspects, manually engaging at least one of the one or more push buttons adjusts the angular position of the grabber by an incremental amount. 
     In another aspect combinable with any of the previous aspects, the incremental amount is 5 degrees of angular movement. 
     In another aspect combinable with any of the previous aspects, the grabber is parallel to a surface on which the refuse collection vehicle is positioned when the grabber is positioned in a baseline angular position. 
     In another aspect combinable with any of the previous aspects, the angular position of the grabber can be adjusted using the first controller in a range of −30 degrees to 30 degrees relative to a surface on which the refuse collection vehicle is positioned. 
     Another aspect combinable with any of the previous aspects further includes an onboard computing device coupled to the at least one sensor arranged to collect data indicating an angular position of the grabber, the at least one sensor arranged to collect data indicating a relative positioning of the lift arm, the first controller, and the second controller. 
     In another aspect combinable with any of the previous aspects, coordinating the adjustment of the angular position of the grabber with the adjustment of the relative positioning of the lift arm includes determining, by the onboard computing device, a current relative positioning of the lift arm based on data provided by the at least one sensor arranged to collect data indicating a relative positioning of the lift arm, determining, by the onboard computing device, that the current relative positioning of the lift arm is below a threshold position, and in response to the determining that the current relative positioning of the lift arm is below a threshold position, modifying the range in which the angular position of the grabber can be adjusted using the first controller to a modified range. 
     In another aspect combinable with any of the previous aspects, the modified range includes −15 degrees to 30 degrees relative to the surface. 
     In another aspect combinable with any of the previous aspects, the modified range includes 0 degrees to 30 degrees relative to the surface. 
     In another aspect combinable with any of the previous aspects, the second controller includes a touch input display. 
     In another aspect combinable with any of the previous aspects, the second controller includes one or more control elements. 
     In another aspect combinable with any of the previous aspects, the relative positioning of the lift arm is adjusted by manually engaging at least one of the one or more control elements. 
     In another aspect combinable with any of the previous aspects, the relative positioning of the lift arm corresponds to a height of the grabber relative to a surface on which the refuse collection vehicle is positioned. 
     In another aspect combinable with any of the previous aspects, manually engaging at least one of the one or more control elements adjusts height of the grabber relative to a surface on which the refuse collection vehicle is positioned by an incremental amount. 
     In another aspect combinable with any of the previous aspects, the incremental amount is 2.5 inches. 
     In another aspect combinable with any of the previous aspects, at least one of the one or more control elements corresponds to a grabber height. 
     In another aspect combinable with any of the previous aspects, manually engaging at least one of the one or more control elements corresponding to a grabber height adjusts the relative positioning of the lift arm to a position corresponding to the grabber height. 
     In another aspect combinable with any of the previous aspects, at least one of the one or more control elements corresponds to a baseline positioning of the lift arm, and manually engaging the at least one of the one or more control elements corresponding to a baseline positioning adjusts the relative positioning of the lift arm to the baseline positioning. 
     In another aspect combinable with any of the previous aspects, the baseline positioning includes a relative positioning of the lift arm corresponding to a height of the grabber relative to a surface on which the refuse collection vehicle is positioned. 
     In another aspect combinable with any of the previous aspects, the baseline positioning includes a relative positioning of the lift arm corresponding to a height of the grabber equal to 24 inches above the surface on which the refuse collection vehicle is positioned. 
     In another aspect combinable with any of the previous aspects, the relative positioning of the lift arm can be adjusted using the second controller such that a height of the grabber relative to a surface that the refuse collection vehicle is on can be adjusted in a range of 39 inches above the surface to 20 inches below the surface. 
     Potential benefits of the one or more implementations described in the present specification may include increased waste collection efficiency and reduced operator error in refuse collection. The one or more implementations may also reduce the likelihood of damaging refuse containers and refuse collection vehicles during the refuse collection process. The one or more implementations may also reduce the risk of injury to refuse collection vehicle operators by reducing the need for the operators to exit the vehicle to physically interact with the refuse containers. 
     It is appreciated that methods in accordance with the present specification may include any combination of the aspects and features described herein. That is, methods in accordance with the present specification are not limited to the combinations of aspects and features specifically described herein, but also include any combination of the aspects and features provided. 
     The details of one or more implementations of the subject matter described in this disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the subject matter will be apparent from the description and drawings, and from the claims. 
    
    
     
       DESCRIPTION OF DRAWINGS 
         FIG. 1  depicts an example system for collecting refuse. 
         FIG. 2A-2C  depict example schematics of a refuse collection vehicle. 
         FIG. 3A-3C  depict schematics of an example grabber of a refuse collection vehicle. 
         FIG. 4  depicts an example controller interface for controlling a grabber. 
         FIG. 5  depicts a schematic of an example lift arm and an example grabber of a refuse collection vehicle. 
         FIG. 6  depicts an example controller interface for controlling a lift arm. 
         FIG. 7  depicts a schematic of an example lift arm and an example grabber of a refuse collection vehicle. 
         FIGS. 8A-8E  depict an example refuse collection vehicle engaging a refuse container. 
         FIG. 9  depicts an example computing system. 
     
    
    
     DETAILED DESCRIPTION 
       FIG. 1  depicts an example system for collecting refuse. Vehicle  102  is a refuse collection vehicle that operates to collect and transport refuse (e.g., garbage). The refuse collection vehicle  102  can also be described as a garbage collection vehicle, or garbage truck. The vehicle  102  is configured to lift containers  130  that contain refuse, and empty the refuse in the containers into a hopper of the vehicle  102 , to enable transporting the refuse to a collection site, compacting of the refuse, and/or other refuse handling activities. 
     The body components  104  of the vehicle  102  can include various components that are appropriate for the particular type of vehicle  102 . A vehicle with an automated side loader (ASL), such as the example shown in  FIGS. 2A-2C , may include body components  104  involved in the operation of the ASL, such as an arm and/or grabbers, as well as other body components such as a pump, a tailgate, a packer, and so forth. Body components  104  may also include other types of components that operate to bring garbage into a hopper (or other storage area) of a truck, compress and/or arrange the garbage in the hopper, and/or expel the garbage from the hopper. 
     The vehicle  102  can include any number of body sensor devices  106  that sense body component(s)  104  and generate sensor data  110  describing the operation(s) and/or the operational state of various body components. The body sensor devices  106  are also referred to as sensor devices, or sensors. Sensors may be arranged in the body components, or in proximity to the body components, to monitor the operations of the body components. The sensors  106  emit signals that include the sensor data  110  describing the body component operations, and the signals may vary appropriately based on the particular body component being monitored. In some implementations, the sensor data  110  is analyzed, by a computing device on the vehicle and/or by remote computing device(s), to identify the presence of a triggering condition based at least partly on the operational state of one or more body components  104 , as described in further detail below. Sensors  106  can include, but are not limited to, an analog sensor, a digital sensor, a CAN bus sensor, a magnetostrictive sensor, a radio detection and ranging (RADAR) sensor, a light detection and ranging (LIDAR) sensor, a laser sensor, an ultrasonic sensor, an infrared (IR) sensor, a stereo camera sensor, a three-dimensional (3D) camera, an in-cylinder sensor, or a combination thereof. 
     Sensors  106  can be provided on the vehicle body to evaluate cycles and/or other parameters of various body components. For example, as described in further detail herein, the sensors  106  can detect and measure the particular position or operational state of body components, such as the position of a lift arm  111  or the position of a grabber  113  of the vehicle  102 . 
     In some implementations, the sensor data  110  may be communicated from the sensors to an onboard computing device  132  in the vehicle  102 . In some instances, the onboard computing device is an under-dash device (UDU), and may also be referred to as the Gateway. Alternatively, the computing device  132  may be placed in some other suitable location in or on the vehicle. The sensor data  110  may be communicated from the sensors to the onboard computing device  132  over a wired connection (e.g., an internal bus) and/or over a wireless connection. In some implementations, a bus in conformance with International Organization of Standardization (ISO) standard 11898 connects the various sensors with the onboard computing device. In some implementations, a Controller Area Network (CAN) bus connects the various sensors with the onboard computing device. For example, a CAN bus in conformance with ISO standard 11898 can connect the various sensors with the onboard computing device. In some implementations, the sensors may be incorporated into the various body components. Alternatively, the sensors  106  may be separate from the body components. In some implementations, the sensors  106  digitize the signals that communicate the sensor data before sending the signals to the onboard computing device, if the signals are not already in a digital format. 
     The analysis of the sensor data  110  is performed at least partly by the onboard computing device  132 , e.g., by processes that execute on the processor(s)  114 . For example, the onboard computing device  132  may execute processes that perform an analysis of the sensor data  110  to determine the current position of the body components, such as the position of a lift arm and a grabber of the refuse collection vehicle  102 . In some implementations, an onboard program logic controller or an onboard mobile controller perform analysis of the sensor data  110  to determine the current position of the body components  104 . 
     The onboard computing device  132  can include one or more processors  114  that provide computing capacity, data storage  166  of any suitable size and format, and network interface controller(s)  118  that facilitate communication of the device  132  with other device(s) over one or more wired or wireless networks. 
     In some implementations, a vehicle includes a body controller that manages and/or monitors various body components of the vehicle. The body controller of a vehicle can be connected to multiple sensors in the body of the vehicle. The body controller can transmit one or more signals over a CAN network or a J1939 network, or other wiring on the vehicle, when the body controller senses a state change from any of the sensors. These signals from the body controller can be received by the onboard computing device  132  that is monitoring the CAN network or the J1939 network. 
     In some implementations, the onboard computing device is a multi-purpose hardware platform. The device can include a UDU (Gateway) and/or a window unit (WU) (e.g., a device with cameras, speakers, and/or microphones) to record video and/or audio operational activities of the vehicle. The onboard computing device hardware subcomponents can include, but are not limited to, one or more of the following: a CPU, a memory or data storage unit, a CAN interface, a CAN chipset, NIC(s) such as an Ethernet port, USB port, serial port, I2c lines(s), and so forth, I/O ports, a wireless chipset, a global positioning system (GPS) chipset, a real-time clock, a micro SD card, an audio-video encoder and decoder chipset, and/or external wiring for CAN and for I/O. The device can also include temperature sensors, battery and ignition voltage sensors, motion sensors, CAN bus sensors, an accelerometer, a gyroscope, an altimeter, a GPS chipset with or without dead reckoning, and/or a digital can interface (DCI). The DCI cam hardware subcomponent can include the following: CPU, memory, can interface, can chipset, Ethernet port, USB port, serial port, I2c lines, I/O ports, a wireless chipset, a GPS chipset, a real-time clock, and external wiring for CAN and/or for I/O. In some implementations, the onboard computing device is a smartphone, tablet computer, and/or other portable computing device that includes components for recording video and/or audio data, processing capacity, transceiver(s) for network communications, and/or sensors for collecting environmental data, telematics data, and so forth. 
     In some implementations, one or more cameras  112  can be mounted on the vehicle  102  or otherwise present on or in the vehicle  102 . The camera(s)  112  each generate image data  128  that includes one or more images of a scene external to and in proximity to the vehicle  102 . In some implementations, one or more cameras  112  are arranged to capture image(s) and/or video of a refuse container  130  before, after, and/or during the operations of body components  104  to engage and empty the refuse container  130 . For example, for a side loading vehicle, the camera(s)  112  can be arranged to image objects to the side of the vehicle, such as a side that mounts the ASL to lift containers. In some implementations, camera(s)  112  can capture video of a scene external to, internal to, and in proximity to the vehicle  102 . 
     In some implementations, the camera(s)  112  are communicably coupled to a graphical display  120  to communicate images and/or video captured by the camera(s)  112  to the graphical display  120 . In some implementations, the graphical display  120  is placed within the interior of the vehicle. For example, as depicted in  FIGS. 2A-2C , the graphical display  120  can be placed within the cab of vehicle  102  such that the images and/or video can be viewed by an operator of the vehicle  102  on a screen  122  of the graphical display  120 . In some implementations, the graphical display  120  is a heads-up display that projects images and/or video onto the windshield of the vehicle  102  for viewing by an operator of the vehicle  102 . 
     In some implementations, the images and/or video captured by the camera(s)  112  can be communicated to the onboard computing device  132  in the vehicle  102 . Images and/or video captured by the camera(s)  112  can be communicated from the camera(s)  112  to the onboard computing device  132  over a wired connection (e.g., an internal bus) and/or over a wireless connection. In some implementations, a J1939 bus or a CAN bus connects the camera(s) with the onboard computing device. 
     In some implementations, the camera(s)  112  are incorporated into the various body components. Alternatively, the camera(s)  112  may be separate from the body components. 
       FIGS. 2A-2C  depict an example schematic of a refuse collection vehicle. The refuse collection vehicle  102  includes various body components including, but not limited to: a lift arm  111 , a grabber  113 , a back gate or tailgate  115 , and a hopper  117  to collect refuse for transportation. 
     As depicted in  FIGS. 2A-2C , the vehicle  102  also includes one or more cameras  112 . In the examples shown in  FIGS. 2A-2C , a camera  112  is positioned to visualize the environment proximate a side of the refuse collection vehicle  102 , including a refuse container  130  to be engaged by the vehicle  102 . The side view camera  112  can be aligned with a centerline of the grabber  113  to visualize a container  130  to be engaged by the grabber  113 . 
     The side view camera  112  helps provide the vehicle operator  150  with a clear visual line of sight of a refuse container  130  located to the side of the vehicle  102 . For example, images and/or video captured by camera  112  can be provided to a graphical display  120  for display on a screen  122  of the graphical display  120 . As shown in  FIGS. 2A-2C , a graphical display  120  is placed within the cab of vehicle  102  such that the images and/or video captured by camera  112  can be viewed on a screen  122  of the display  120  by the operator  150  of the vehicle  102 . In some implementations, the graphical display  120  is a heads-up display that projects images and/or video captured by camera  112  onto the windshield of the vehicle  102  for viewing by an operator of the vehicle  102 . In some implementations, the images and/or video captured by the camera  112  can be communicated to a graphical display  120  of an onboard computing device (such as onboard computing device  132  of  FIG. 1 ) in the vehicle  102 . Images and/or video captured by the camera  112  can be communicated to the graphical display  120 , over a wired connection (e.g., an internal bus) and/or over a wireless connection. In some implementations, a J1939 bus or CAN bus connects the camera(s) with the onboard computing device. The ability to visualize the side of the vehicle  102  via the side view camera  112  and the screen  122  may be particularly useful when the refuse container  130  to be engaged is within close proximity of the vehicle  102 . 
     In some implementations, the side view camera  112  is contained within an enclosure. For example, the camera  112  can be contained within a metal enclosure that also includes a light source. Placing the side view camera  112  in an enclosure can help protect the camera  112  from debris. 
     The vehicle  102  also includes a plurality of body sensors  106  positioned to determine the state and/or detect the operations of the body components  104 . In the example shown in  FIGS. 2A-2C , the vehicle  102  includes an arm position sensor  106   a  that is arranged to detect the relative position of the lift arm  111 . For example, data provided by the arm position sensor  106   a  can be used to determine the height of an end of the lift arm  111  relative to the surface on which the vehicle  102  is positioned. In some examples, the sensor  106   a  for detecting the relative position of the lift arm  111  is coupled to a cylinder  250  that is coupled to the lift arm  111 . For example, the sensor  106   a  can detect the relative position of the lift arm  111  based on the amount of travel of a piston  252  coupled to the lift arm  111  from the cylinder  250 . In some implementations, arm position sensor  106   a  is located inside a cylinder  250  coupled to lift arm  111 . In some implementations, position sensor  106   a  is located on the outside of a housing containing a cylinder  250  coupled to lift arm  111 . In some examples, arm position sensor  106   a  includes two sensors, with a first sensor being located inside a cylinder used for raising the lift arm  111  and a second sensor being located inside a cylinder used for extending the lift arm  111 . Body sensors  106  can include, but are not limited to, an analog sensor, a digital sensor, a CAN bus sensor, a magnetostrictive sensor, a RADAR sensor, a LIDAR sensor, a laser sensor, an ultrasonic sensor, an infrared (IR) sensor, a stereo camera sensor, a three-dimensional (3D) camera, an in-cylinder sensor, or a combination thereof. 
     The vehicle  102  also includes one or more grabber sensors  106   b . The grabber sensor  106   b  can be arranged to detect the position and state of the grabber  113 . For example, the grabber sensor  106   b  can be used to detect the relative position of the gripper arms  116   a ,  116   b  of the grabber  113 . In some examples, the grabber sensor  106   b  detects a distance between the gripper arms  116   a ,  116 . In some examples, data provided by the grabber sensor  106   b  can be used to determine an angle of the grabber  113  relative to the body of the vehicle  102 . In some examples, data provided by the grabber sensor  106   b  can be used to determine the speed of movement of the gripper arms  116   a ,  116   b  of the grabber  113 . In some implementations, the grabber sensor  106   b  can be used to determine the pressure being applied to a refuse container by the gripper arms  116   a ,  116   b  of the grabber  113 . 
     In some examples, the grabber sensor  106   b  includes one or more sensors positioned in one or more rotary actuators coupled to the grabber  113  and is configured to detect angular movement of the grabber  113 . As shown in  FIGS. 3A-3C , in some examples, the grabber sensor  106   b  is coupled to a cylinder  240  that is coupled to the grabber  113 . For example, the sensor  106  can detect the relative position of the gripper arms  116   a ,  116   b  of the grabber  113  and the pressure being applied by the gripper arms  116   a ,  116   b  based on the amount of travel of a piston  242  coupled to the gripper arms  116 ,  116   b  from the cylinder  240 . In some implementations, the grabber sensor  106   b  can detect the speed of travel of gripper arms  116   a ,  116   b  based on the rate of extension or retraction of a piston  242  coupled to the gripper arms  116 ,  116   b  from the cylinder  240 . In some implementations, the grabber sensor(s)  106   b  for are located inside a cylinder  240  coupled to the grabber  113 . In some implementations, the grabber sensor(s)  106   b  are located on the outside of a housing containing a cylinder  240  coupled to the grabber  113 . Grabber position sensor(s)  106   b  for detecting the position of the gripper arms  116   a ,  116   b  can include, but are not limited to, an analog sensor, a digital sensor, a CAN bus sensor, a magnetostrictive sensor, a RADAR sensor, a LIDAR sensor, a laser sensor, an ultrasonic sensor, an infrared (IR) sensor, a stereo camera sensor, a three-dimensional (3D) camera, an in-cylinder sensor, or a combination thereof. 
     As depicted in  FIGS. 2A-2C , one or more controls  140 ,  142 ,  145  are provided to control mechanical components of the vehicle. For example, as will be described in detail herein, controllers  140 ,  142  can be provided to control movement of the lift arm  111  and the grabber  113 . 
     As shown in  FIG. 2A , a refuse container  130  can be engaged by the grabber  113  of the refuse collection vehicle  102 . The grabber  113  includes two gripper arms  116   a ,  116   b  that are configured to encapsulate and apply pressure to a refuse container  130  to engage the refuse container  130 . As explained in further detail herein, the relative positioning of the lift arm  111  and of the grabber  113  can be adjusted to engage a refuse container  130 . 
     As shown in  FIG. 2A , engaging the refuse container  130  includes extending the lift arm  111  of the vehicle  102  outward from the vehicle  102  until the grabber  113  is in a position to engage the refuse container  130 . Once the grabber  113  is in close proximity to the refuse container  130 , the distance between the gripper arms  116   a ,  116   b  is reduced to engage and apply pressure to the refuse container  130 . In some implementations, the one or more gripper arms  116   a ,  116   b  continue to move inward until a threshold pressure is applied to the refuse container. As described in further detail herein, the speed of travel of the gripper arms  116   a ,  116   b  and the pressure applied to the refuse container  130  by the gripper arms  116   a ,  116   b  can be adjusted using one or more controllers  140 ,  142 . In some implementations, the pressure applied to the refuse container  130  by the gripper arms  116   a ,  116   b  is automatically adjusted based on feedback from one or more sensors. For example, one or more sensors may be configured to detect the changes in hydraulic pressure of the grabber  113 , and, in response to the detected hydraulic pressure changes, the pressure applied to the refuse container  130  by the gripper arms  116   a ,  116   b  is automatically adjusted. 
     As depicted in  FIGS. 2B and 2C , after the refuse container  130  is engaged by the grabber  113 , the engaged refuse container  130  is lifted to a dump position  138  and the contents of the refuse container  130  are dumped into the hopper  117  of the refuse collection vehicle  102 . The grabber  113  maintains the pressure applied by the gripper arms  116   a ,  116   b  to the refuse container  130  throughout the process of lifting the container  130  and dumping the contents of the container  130  to ensure that the container  130  is not prematurely dropped. In some implementations, the pressure provided by the gripper arms  116   a ,  116   b  is increased while the refuse container  130  is being rolled into a dump position  138 . 
     After the contents of the engaged refuse container  130  are dumped into the hopper  117  of the refuse collection vehicle  102 , the lift arm  111  is lowered to return the refuse container  130  to the ground (or to another surface on which the refuse container was positioned when initially engaged by the grabber  113 ). Once the refuse container  130  has been lowered to the ground or other placement surface, the gripper arms  116   a ,  116   b  move apart from one another to release the refuse container  130  from the grabber  113 . 
     As previously discussed, the refuse collection vehicle  102  uses a grabber  113  to engage a refuse container  130  and uses a lift arm  111  to raise the engaged container  130  to release its contents into the hopper  117  of the vehicle  102 .  FIGS. 3A-3C  depict top views of an example grabber  113 . As depicted in  FIG. 3A , the grabber  113  includes two opposing gripper arms  116   a ,  116   b . In some examples, as depicted in  FIGS. 3B and 3C , the grabber  113  also includes belts  232   a ,  232   b  attached to each the gripper arms  116   a ,  116   b . The belts  232   a ,  232   b  allow for improved engagement between the grabber  113  and a refuse container  130  and allow for engagement of refuse containers  130  of various sizes. In some examples, belts  232  include one or more rubber belts.  FIG. 3C  depicts a refuse container  130  engaged by the grabber  113 . 
     In some examples, an assembly including a cylinder  240  and a piston  242  move the gripper arms  116   a ,  116   b  between an open position (as depicted in  FIG. 3A ) to a closed or grabbing position (as depicted in  FIG. 3B ). For example, extension of the piston  242  from the cylinder  240  will cause the gripper arms  116   a ,  116   b  to move inward toward a closed position and reduce the distance  260  between the gripper arms  116   a ,  116   b . Retraction of the piston  242  into the cylinder  240  causes the gripper arms  116   a ,  116   b  to move outward towards an open position and increase the distance  260  between the gripper arms  116   a ,  116   b . In some examples, grabber sensor  106   b  is coupled to the cylinder  240  and measures the relative positioning of the gripper arms  116   a ,  116   b  based on the amount of extension of the piston  242  from the cylinder  240 . 
     In some examples, controls (such as controls  140 ,  142  of  FIG. 1 ) can be provided to control the movement of the gripper arms  116   a ,  116   b  of the grabber  113 . For examples, control (such as controls  140 ,  142  of  FIG. 1 ) can be provided to control the speed with which the gripper arms  116   a ,  116   b  move between an open position (as depicted in  FIG. 3A ) and a closed or grabbing position (as depicted in  FIG. 3B ). 
     In some implementations, the speed of gripper arm movement can be adjusted using a proportional push button control  140 . For example, a proportional push button located in the cab of the vehicle can be used to proportionally adjust the speed of movement of the gripper arms  116   a ,  116   b . The proportional button control  140  can be configured such that the speed with which the gripper arms  116   a ,  116   b  move between an open position and a closed position is adjusted proportionally with the amount of button  140  travel. For example, if the proportional button control  140  is depressed 50%, the speed of movement of the gripper arms  116   a ,  116   b  will be set to 50% of a maximum speed. If the proportional button control  140  is fully depressed, the gripper arms  116   a ,  116   b  will move between an open position and a closed position at a maximum speed. In some examples, the proportional button control  140  is communicably coupled to the cylinder  240  and piston  242  assembly coupled to the grabber  113  such that the proportional button control  140  controls the speed of extension and retraction of the piston  242  from the cylinder  240 , which controls the speed of movement of the gripper arms  116   a ,  116   b . In some examples, the proportional button control  140  is communicably coupled to the hydraulic system of the grabber  113  such that the proportional control  140  controls the hydraulic flow to the grabber  113 , which controls the speed of gripper arm  116   a ,  116   b  movement. In some implementations, proportional push button control  140  is communicably coupled to an onboard computing device (such as onboard computing device  132  of  FIG. 1 .) For example, proportional push button control  140  may communicate with onboard computing device  132  over a J1939 network or over a CAN network. 
     In some examples, the proportional button control  140  for controlling gripper arm speed is integrated into a joystick controller  145 . In some examples, the joystick controller  145  is used to control movement of the lift arm  111  of the vehicle. In some examples, the proportional button control  140  for grabber arm speed is integrated into a dashboard of the cab of the refuse collection vehicle. In some examples, the proportional button control  140  for gripper arm speed includes two proportional push buttons: a first button to adjust the speed of inward movement of the gripper arms  116   a ,  116   b  and a second button to adjust the speed of outward movement of the gripper arms  116   a ,  116   b.    
     As the gripper arms  116   a ,  116   b  move inward to the engage and grasp a refuse container, as shown in  FIG. 2C , the gripper arms  116   a ,  116   b  apply a pressure to the refuse container  130 . In some examples, controllers (such as controllers  140 ,  142  of  FIG. 2A-2C ) are provided to control the pressure applied to the refuse can  130  by the gripper arms  116   a ,  116   b . For example, the gripper arms  116   a ,  116   b  may be configured to apply a baseline pressure to a refuse container  130 , and a controller  142  located within the vehicle  102  can be used to adjust the pressure applied by the gripper arms  116   a ,  116   b  to the refuse container  130 . 
       FIG. 4  depicts an example controller  142  for adjusting the pressure applied by the gripper arms  116   a ,  116   b  of the grabber  113 . As depicted in  FIG. 4 , controller  142  may be provided as a touchscreen display  402  displaying a graphical user interface having one or more control elements  406 ,  408 ,  410 ,  412 . Each of the control elements  406 ,  408 ,  410 ,  412  can be used to adjust the pressure provided by the gripper arms  116   a ,  116   b  of the grabber  113 . As shown in  FIG. 4 , the GUI of the controller  142  also includes a control element  404  displaying the current pressure setting for the pressure provided by the gripper arms  116   a ,  116   b.    
     The GUI of the controller  142  includes a first control element  406  for increasing the pressure to be applied by the gripper arms  116   a ,  116   b  on a refuse container. In some examples, each time an operator selects the first control element  406 , the pressure to be applied by the gripper arms  116   a ,  116  is increased by a defined incremental amount. For example, if the incremental amount is 10 pounds per square inch (psi), an operator may increase the pressure to be applied by the gripper arms  116   a ,  116   b  by 30 psi by selecting the first control element  406  three times. In some examples, the pressure to be applied by the gripper arms  116   a ,  116   b  can be increased in increments in a range of 1 psi to 3000 psi using control element  406 . In some examples, the pressure to be applied by the gripper arms  116   a ,  116   b  can be increased in increments of 10 psi using control element  406 . 
     The GUI of the controller  142  includes a second control element  408  for decreasing the pressure to be applied by the gripper arms  116   a ,  116   b  on a refuse container. In some examples, each time an operator selects the second control element  408 , the pressure to be applied by the gripper arms  116   a ,  116  is decreased by a defined incremental amount. For example, if the incremental amount is 10 psi, an operator may decrease the pressure to be applied by the gripper arms  116   a ,  116   b  by 30 psi by selecting the second control element  408  three times. In some examples, the pressure to be applied by the gripper arms  116   a ,  116   b  can be decreased in increments in a range of 1 psi to 3000 psi using control element  408 . In some examples, the pressure to be applied by the gripper arms  116   a ,  116   b  can be decreased in increments of 10 psi using control element  408 . 
     The controller  142  also includes control elements  410  for automatically adjusting the pressure to be applied by the gripper arms  116   a ,  116   b  based on a selected refuse container size. Control elements  410  each correspond to a particular size of refuse container, as defined by volume. For example, as depicted in  FIG. 4 , control element  410   a  corresponds to a 32-gallon refuse container, control element  410   b  corresponds to a 48-gallon refuse container, control element  410   c  corresponds to a 64-gallon refuse container, and control element  410   d  corresponds to a 96-gallon refuse container. Controller  142  can store a gripper pressure corresponding to each refuse container size associated with each control element  410 . The stored pressure associated with each refuse container size can be equal to a pressure sufficient of maintain engagement between the grabber  113  and a fully loaded refuse container of the respective size. 
     In response to an operator&#39;s selection of one of control elements  410 , the pressure to be applied by the gripper arms  116   a ,  116   b  is automatically adjusted to the stored gripper pressure associated with the selected control element  410 . For example, if an operator selects control element  410   c , the pressure to be applied by the gripper arms  116   a ,  116   b  will be automatically adjusted to the stored pressure associated with control element  410   c.    
     As depicted in  FIG. 4 , the GUI of the controller  142  also includes a reset control element  412  that allows an operator to reset the pressure to be applied by the gripper arms  116   a ,  116   b  to a baseline pressure. In some implementations, the baseline pressure to be applied by the gripper arms  116   a ,  116   b  is in a range of 0 psi to 3000 psi. In some examples, the baseline pressure applied to the gripper arms  116   a ,  116   b  is 1200 psi. In some implementations, an operator  150  can adjust or set the baseline pressure using a controller, such as control elements  406  and  408 . In response to an operator&#39;s selection of the reset control element  412 , the pressure to be applied by the gripper arms  116   a ,  116   b  is automatically adjusted to the baseline pressure. 
     Control element  404  displaying the current setting of the pressure to be applied by the gripper arms  116   a ,  116   b  is automatically updated in response to each adjustment of the pressure to be applied by the gripper arms  116   a ,  116   b . For example, if the current gripper arm pressure setting is 1250 psi, and the operator increases the pressure setting by 40 psi using control element  406 , control element  404  will be updated to display 1290 psi as the current setting of the pressure to be applied by the gripper arms  116   a ,  116   b.    
     The controller  142  can be used to adjust the pressure applied by the gripper arms  116   a ,  116   b  within a predetermined range. For example, controller  142  can be used to adjust the pressure applied by the gripper arms  116   a ,  116   b  between 0 psi and 3000 psi. In some implementations, controller  142  can be used to adjust the pressure applied by the gripper arms  116   a ,  116   b  between 1000 psi and 1800 psi 
     In some examples, the one or more of the gripper arms  116   a ,  116   b  continue to move inward until the pressure selected by the operator using the controller  142  is applied to the refuse container  130  by the gripper arms  116   a ,  116   b . In some examples, the pressure being applied to the gripper arms  116   a ,  116   b  is detected by a sensor  106   b  coupled to the cylinder  240  that is coupled to the grabber  113 . In some implementations, the sensor  106   b  for detecting pressure applied by the gripper arms  116   a ,  116   b  is located in a cylinder  240  coupled to the grabber  113 . In some implementations, the sensor  106   b  for detecting pressure applied by the gripper arms  116   a ,  116   b  is located on the outside of a housing containing a cylinder  240  coupled to the grabber  113 . In some examples, pressure sensors  106   b  are arranged on each gripper arm  116   a ,  116   b  of the grabber  113  to detect the pressure being applied to a refuse container  130  by the gripper arms  116   a ,  116   b . In some implementations, the sensor  106   b  for detecting pressure applied by the gripper arms  116   a ,  116   b  is located in the valve section of the grabber  113  that controls gripper movement. In some examples, the sensor  106   b  for detecting the pressure applied by the gripper arms  116   a ,  116   b  is located outside the valve section and within the grabber circuit. For example, the sensor  106   b  for detecting pressure applied by the gripper arms  116   a ,  116   b  may be located in a hydraulic hose connected to the grabber  113 . 
     As depicted in  FIG. 5 , the height of the grabber  113  can be adjusted relative to the surface  550  that the vehicle  102  is positioned on by raising or lowering the lift arm  111 . For example, as the lift arm  111  is raised, the grabber  113  is also raised. 
     The position of the lift arm  111  can be adjusted by a controller, such as controller  142 , located within the refuse collection vehicle  102 . For example, controller  142  located within the vehicle  102  can be used to adjust relative position of the lift arm  111 . 
       FIG. 6  depicts an example controller  642  for controlling the relative positioning of the lift arm  111 . As depicted in  FIG. 6 , the controller  642  may be provided as a touchscreen display  602  displaying a graphical user interface (GUI) having one or more control elements  606 ,  608 ,  610 ,  612 . Each of the control elements  606 ,  608 ,  610 ,  612  can be used to adjust the relative positioning of the lift arm  111 , which adjusts the height of the grabber  113  relative to the surface  550  the tires of the vehicle  102  are positioned on. 
     As shown in  FIG. 6 , the GUI of the controller  142  also includes a control element  604  displaying the current relative positioning of grabber  113 . In some examples, the grabber  113  positioning displayed by control element  604  is the height of the center of the ends  126   a ,  126   b  of the gripper arms  116   a ,  116   b  relative to the surface  550  on which the tires of the refuse collection vehicle are positioned. 
     The GUI of the controller  142  includes a first control element  606  for raising the lift arm  111 . In some examples, each time an operator selects the first control element  606 , the lift arm  111  is raised to increase the height the grabber  113  relative to the surface  550  on which the vehicle  102  is positioned by a defined incremental distance. For example, if the incremental travel distance is 1 inch, an operator may raise the lift arm  111  and increase the height of the grabber  113  relative to the surface  550  on which the vehicle  102  is positioned by three inches by selecting the first control element  606  three times. In some examples, the height of the grabber  113  relative to the surface  550  on which the vehicle  102  is positioned can be increased in increments of 2.5 inches by raising the lift arm  111  using control element  606 . In some implementations, the height of the grabber  113  can be increased to a maximum height of approximately 39 inches above the surface  550  on which the vehicle  102  is positioned using controller  142 . 
     The GUI of the controller  142  includes a second control element  608  for lowering the lift arm  111 . In some examples, each time an operator selects the second control element  608 , the lift arm  111  is lowered to decrease the height of the grabber  113  relative to the surface  550  on which the vehicle  102  is positioned by a defined incremental distance. For example, if the incremental travel distance defined for control element  608  is 1 inch, an operator may lower the lift arm  111  and decrease the height of the grabber  113  relative to the surface on which the vehicle  102  is sitting by three inches by selecting the second control element  608  three times. In some examples, the height of the grabber  113  relative to the surface  550  on which the vehicle  102  is positioned can be decreased in increments of 2.5 inches by lowering the lift arm  111  using control element  608   
     The controller  142  also includes control elements  610  for automatically adjusting the relative positioning of the lift arm  111  based on preset grabber  113  heights. Control elements  610  each correspond to a height of the grabber  113  relative to the surface on which the vehicle  102  is positioned. For example, as depicted in  FIG. 6 , control element  610   a  corresponds to a preset grabber  113  height of 4 inches above the surface  550  on which the vehicle  102  is positioned, control element  610   b  corresponds to a preset grabber  113  height of 8 inches above the surface  550  on which the vehicle  102  is positioned, control element  610   c  corresponds to a preset grabber  113  height of 4 inches below the surface  550  on which the vehicle  102  is positioned, and control element  610   d  corresponds to a preset grabber  113  height of 8 inches below the surface  550  on which the vehicle  102  is positioned. Control elements  610  can be provided for preset heights including, but not limited to, 4 inches above the surface on which the vehicle  102  is positioned, 8 inches above the surface on which the vehicle  102  is positioned, 12 inches above the surface on which the vehicle  102  is positioned, 16 inches above the surface on which the vehicle  102  is positioned, 20 inches above the surface on which the vehicle  102  is positioned, 24 inches above the surface on which the vehicle  102  is positioned, 4 inches below the surface on which the vehicle  102  is positioned, 8 inches below the surface on which the vehicle  102  is positioned, 12 inches below the surface on which the vehicle  102  is positioned, 16 inches below the surface on which the vehicle  102  is positioned, and 20 inches below the surface on which the vehicle  102  is positioned. 
     In some implementations, in response to an operator&#39;s selection of one of control elements  610 , the lift arm  111  is automatically adjusted such that the center of the ends  126   a ,  126   b  of the gripper arms  116   a ,  116   b  of the grabber  113  are positioned at the preset height associated with the selected control element  610 . For example, in response to an operator&#39;s selection of a refuse container size using a control element  610 , the current height of the grabber  113  relative to the surface  550  on which the vehicle  102  is positioned is determined based on data from arm sensor  106   a , and the lift arm  111  is automatically moved up or down, based on the current grabber  113  height and the preset height associated with the selected refuse container size, until sensor  106   a  detects that the lift arm  111  has reached the relative positioning corresponding to a grabber  113  height equal to the preset height associated with the selected control element  610 . For example, if an operator selects control element  610   c , the lift arm  111  will be automatically repositioned to such that the height of the center of the ends  126   a ,  126   b  of the gripper arms  116   a ,  116   b  of the grabber  113  is equal to the preset height associated with control element  610   c  (i.e., 4 inches below the surface  550  the vehicle is positioned on). 
     In some examples, the controller  142  may include control elements  610  for automatically adjusting the relative positioning of the lift arm  111  based on a selected refuse container size. For example, one or more control elements  610  may each correspond to a particular size of refuse container  130 , as defined by volume, such as a 32-gallon refuse container, a 48-gallon refuse container, a 64-gallon refuse container, and/or a 96-gallon refuse container. Controller  142  can store a relative lift arm  111  positioning corresponding to each refuse container size associated with each control element  610 . For example, controller  142  can store a relative lift arm  111  positioning for each refuse container size for which the height of the grabber  113  relative the surface  550  the vehicle  102  is sitting on is optimized to engage the respective size of container  130  based on the height of the respective size of container  130 . 
     In some implementations, in response to an operator&#39;s selection of one of control elements  610 , the lift arm  111  is automatically adjusted to the stored relative position associated with the refuse container size of the selected control element  610 . For example, in response to an operator&#39;s selection of a 64-gallon refuse container size using a control element  610 , the current relative positioning of the lift arm  111  is determined based on data from arm sensor  106   a , and the lift arm  111  is automatically moved up or down, based on the current lift arm  111  position and the stored relative lift arm  111  positioning associated with a 64-gallon refuse container size, until sensor  106   a  detects that the lift arm  111  has reached the stored position. 
     As depicted in  FIG. 6 , the GUI of the controller  142  also includes a reset control element  612  that allows an operator to reset the relative position of the lift arm  111  to a baseline positioning. In some implementations, the baseline positioning includes a lift arm  111  positioning such that the height of the grabber  113  is 24 inches above the surface on which the vehicle  102  is positioned. In some implementations, the baseline positioning of the lift arm  111  may be adjusted or set by an operator  150  using a controller (such as controller  142 ). 
     In response to an operator&#39;s selection of the reset control element  612 , the current relative positioning of the lift arm  111  is determined based on data from arm sensor  106   a , and the lift arm  111  is automatically moved up or down, based on the current lift arm  111  positioning and the baseline positioning, until sensor  106   a  detects that the lift arm  111  has reached the baseline positioning. For example, if the baseline positioning of the lift arm  111  positions the grabbers 24 inches above the surface  550  on which the vehicle  102  is positioned, and the current positioning of the lift arm  111 , as detected by sensor  106 , corresponds to a grabber  113  height of 26 inches above the surface  550  on which the vehicle  102  is positioned, a selection of the reset control element  612  will cause the lift arm  111  to be lowered until the height of the grabber  113  is 24 inches above the surface  550  on which the vehicle  102  is positioned, as detected by sensor  106   a.    
     Control element  604  displaying the current grabber  113  height is automatically updated in response to each adjustment of the position of lift arm  111 . For example, if the current grabber  113  is 8 inches below the surface  550  on which the vehicle  102  is positioned, and the operator increases the grabber  113  height by 5 inches by using control element  606  to raise the lift arm  111 , touchscreen element  604  will be updated to display 3 inches below the surface  550  on which the vehicle  102  is positioned as the current grabber  113  height. 
     In some implementations, the controller  142  can be used to adjust the height of the grabber  113  within a predetermined range. For example, controller  142  can be used to adjust the relative positioning of the lift arm  111  such that the height of the grabber  113  can be adjusted between 39 inches above the surface  550  on which the vehicle  102  is positioned to 20 inches below the surface  550  on which the vehicle  102  is positioned. As described in further detail herein, in some examples, the range of grabber  113  height adjustment using controller  142  may be reduced based on the angular positioning of the grabber  113 . For example, in some implementations, the height of the grabber  113  can be adjusted between 18 inches above the surface  550  on which the vehicle  102  is positioned to 30 inches above the surface  550  on which the vehicle  102  is positioned. 
     In some examples, an assembly including a cylinder  250  and a piston  252  is used to raise and lower the lift arm  111 . For example, retraction of the piston  252  into the cylinder  250  will cause the lift arm  111  to be lowered from its current relative positioning. Extension of the piston  252  outward from the cylinder  250  causes the lift arm  111  to be raised from its current relative positioning. 
     In some examples, the lift arm  111  continues to be raised or lowered until the amount of height adjustment of the grabber  113  selected by the operator using the controller  142  is reached. In some examples, the amount of height adjustment of the grabber  113  and the current height of the grabber  113  is detected by a sensor  106   a  coupled to the cylinder  250  coupled to the lift arm  111 . In some implementations, the sensor  106   a  for detecting lift arm  111  positioning and grabber  113  height is located in a cylinder  250  coupled to the lift arm  111 . In some examples, sensor  106   a  includes two sensors, with a first sensor being located inside a cylinder used for raising the lift arm  111  and a second sensor being located inside a cylinder used for extending the lift arm  111 . In some implementations, the sensor for detecting lift arm  111  positioning and grabber  113  height is located on the outside of a housing containing a cylinder  250  coupled to the lift arm  111 . In some examples, the sensors  106   a  used to detect lift arm  111  positioning and grabber  113  height are magnetostrictive sensors. As previously discussed, in some examples, feedback provided by the sensors for detecting lift arm  111  movement can be used to determine the relative position of the grabber  113 . Sensor(s)  106   a  can include, but are not limited to, an analog sensor, a digital sensor, a CAN bus sensor, a magnetostrictive sensor, a RADAR sensor, a LIDAR sensor, a laser sensor, an ultrasonic sensor, an infrared (IR) sensor, a stereo camera sensor, a three-dimensional (3D) camera, an in-cylinder sensor, or a combination thereof. 
     In some implementations, a first controller can be used to set the baseline lift arm positioning relative to the surface on which the refuse collection vehicle  102  is positioned, and a second controller can be used to adjust the height of the lift arm  111  within a range around the baseline lift arm positioning. For example, in some implementations a touchscreen display controller (such as controller  542 ) is used to set the baseline lift arm positioning (e.g., positioning  802  depicted in  FIGS. 8A and 8B ). Once the baseline lift arm positioning is set, a second controller can be used to adjust the height of the lift arm  111  within a predetermined range. For example, after setting the baseline positioning, a driver of vehicle can use a pushbutton controls (e.g., pushbutton  540   a  and  540   b  of  FIGS. 8A-8E ) to adjust the height of the lift arm  111  up or down in set increments within a range outside the baseline positioning. In some implementations, after setting the baseline positioning, a driver of vehicle can use a joystick controller (e.g.,  745  of  FIGS. 8A-8E ) to fluidly adjust the height of the lift arm  111  within a range outside the baseline positioning. For example, the driver of the vehicle can pull back or push forward on the joystick controller  745  to move the arm height up or down, respectively, within the confines of relative positioning range of 6 inches above the baseline positioning to 6 inches below the baseline positioning. 
     In some implementations, the height of the lift arm  111  is automatically returned to the baseline positioning  802  following completion of a dump cycle. For example, based on data received from the body sensors  160  on the vehicle  102 , an onboard computing device  132  can determine that the vehicle has completed a dump cycle and has released the refuse container  130  to the ground  550 . In response to detecting that the dump cycle is complete, onboard computing device  132  can determine the current relative positioning of the lift arm  111  based on data received from the body sensors  106   a  and  106   b , and determines the amount of lift arm  111  travel required to reposition the lift arm  111  in the baseline positioning. Based on this determination, the lift arm  111  is automatically moved the amount required to reposition the lift arm  111  in the baseline positioning. 
     Adjustment of the position of the lift arm  111  may allow for greater control and stability in engaging a refuse  130 . For example, as depicted in  FIG. 8A , when a refuse container  130  to be engaged by the refuse collection vehicle  102  is positioned on a surface that is below street grade  550 , the lift arm  111  can be lowered from the baseline lift arm positioning  802  in order to improve engagement of the refuse container  130 . As depicted in  FIG. 8B , whenever a refuse container  130  is positioned on a surface above street grade  550 , the lift arm  111  can be raised from the baseline lift arm positioning  802  in order to improve engagement of the refuse container  130 . 
     A controller  142  may also be provided to adjust the maximum speed of the lift arm  111  movement. In some examples, the controller  142  is communicably coupled to the cylinder  250  and piston  252  assembly such that the controller  142  controls the speed of extension and retraction of the piston  252  from the cylinder  250 , which controls the speed at which the lift arm  111  is raised and lowered. In some implementations, the controller  142  is provided as a touchscreen display, such as touchscreen  602  of  FIG. 6 , and the maximum speed of the lift arm  111  may be adjusted using one or more control elements displayed on the touchscreen display. For example, the controller  142  for adjusting lift arm  111  speed can be provided as a touchscreen display that includes a first touchscreen element for increasing the maximum speed of lift arm  111  movement in increments of a set amount and a second touchscreen element for decreasing the maximum speed of lift arm  111  movement in increments of a set amount. In some examples, each time the user selects a control element of the controller  142 , the maximum speed of the lift arm  111  movement is adjusted by the predetermined incremental amount. In some examples, after setting the maximum speed for the lift arm  111  movement using controller  142 , an operator can move the lift arm  111  using a joystick  545 , and the speed of the lift arm  111  movement is proportional to movement of the joystick  545 . For example, if an operator  150  sets a maximum speed for lift arm  111  movement using controller  142  and engages the joystick  545  50% of full engagement, the lift arm  111  will be moved at a rate equal to 50% of the maximum speed set with controller  142 . 
     As depicted in  FIG. 7 , the angle of the grabber  113  is adjustable. For example, the angle of the grabber  113  can be adjusted above or below a baseline angular position  702 . In some implementations, the baseline angular position  702  of the grabber  113  is in a range of −45 degrees to 45 degrees relative to the surface  550  on which the vehicle  102  is positioned. In some implementations, the baseline angular position  702  of the grabber  113  is in a range of −15 degrees to 30 degrees relative to the surface  550  on which the vehicle  102  is positioned. In some implementations, the baseline angular position  702  for grabber  113  corresponds to the longitudinal axis of the gripper arms  116   a ,  116   b  of the grabber  113  being substantially parallel to the surface  550  on which the vehicle  102  is positioned. In some implementations, the baseline angular position  702  may be set by an operator  150  using a controller  745 . 
     Adjustment of the angle of the grabber  113  may allow for greater control and stability in engaging a refuse  130 . For example,  FIG. 8C  depicts a refuse container  130  positioned on a surface that is sloping downward from street grade  550 . As depicted in  FIG. 8C , the grabber  113  can be angled downward from baseline angular position  702  such that the grabber  113  is substantially perpendicular to a side of the refuse container  130  for improved engagement of the refuse container  130 .  FIG. 8D  depicts a refuse container  130  positioned on a surface sloping upward from street grade  550 . As depicted in  FIG. 8D , the grabber  113  can be angled upward from a baseline angular position  702  such that the grabber  113  is substantially perpendicular to the side of refuse container  130  for improved engagement of the refuse container. 
     A controller  745  is provided for adjustment of the angle of the grabber  113  relative to the refuse collection vehicle  102 . In some examples, the controller  745  can be used to adjust the angle of the grabber  113  within a predetermined range. For example, controller  745  can be used to adjust the angle of the grabber  113  30 degrees above the baseline angular position  702  and 30 degrees below the baseline angular position  702 . As will be discussed in further detail herein, in some implementations, the controller  745  can be used to adjust the angle of the grabber  113  30 degrees above the baseline angular position  702  and 15 degrees below the baseline angular position  702  when the grabber  113  is positioned below a threshold height. 
     In some examples, the controller  745  is communicably coupled to a rotary actuator that is coupled to the grabber  113 . As depicted in  FIGS. 8A-8E , the controller  745  for adjusting the angle of the grabber  113  can include a first push button  540   a  and a second push button  540   b . The first push button  540   a  is configured to adjust the angle of the grabber  113  upwards relative to the surface on which the refuse collection vehicle  102  is positioned. The second push button  540   b  is configured to adjust the angle of the grabber  113  downward relative to the surface on which the refuse collection vehicle  102  is positioned. In some implementations, buttons  540   a ,  540   b  are provided as a spring-loaded, momentary contact button. In some examples, buttons  540   a ,  540   b  are provided as a potted and sealed push button with finger guards. 
     In some examples, each time the operator presses a push button  540   a ,  540   b  of the controller  745 , the angle of the grabber  113  is adjusted by a predetermined incremental amount. For example, if the incremental amount is 1 degree of angular movement, an operator can press the first push button  540   a  three times to adjust the angle of the grabber  113  upwards from its current position by three degrees. Similarly, for example, the operator can press the second push button  540   b  three times to adjust the angle of the grabber  113  downwards from its current position by three degrees. In some examples, the angle of the grabber  113  can be adjusted up or down using the controller  745  in increments of one degree to five degrees. 
     In some implementations, the angle of the grabber  113  can be adjusted continuously at a preset speed, rather than is increments of set degrees, by pressing and holding one of push button controls  540 . For example, a first push button  540   a  located in the cab of the vehicle can be used to continuously adjust the angle of the grabber  113  upwards and a second push button  540   b  located in the cab of the vehicle can be used to continuously adjust the angle of the grabber  113  downwards. In some examples, if an operator presses and holds button  540   a , the grabber  113  is rotated upwards continuously at a preset speed, up to a maximum upwards angle, until the operator releases the button  540   a . In some examples, if an operator presses and holds button  540   b , the grabber  113  is rotated downwards continuously at a preset speed, down to a maximum downwards angle, until the operator releases the button  540   b.    
     The controller  745  can also include a third push button  540   c  to reset the angle of the grabber  113  back to the baseline angular position  702 . An operator  150  can press push button  540   c  to automatically reset the angle of the grabber  113  back to the baseline angular position  702 . In response to an operator engaging the third push button  540   c , the current angular position of the grabber  113  is determined based on data from grabber sensor  106   b , and the grabber  113  is automatically tilted upwards or downwards, based on the current angular position of the grabber  113  and the baseline angular position  702 , until the grabber sensor  106   b  detects that the grabber  113  has reached the baseline angular position  702 . 
     In some implementations, the relative position of the lift arm  111  and the angle of the grabber  113  are coordinated. Interlocks may be provided to limit the range that an operator can adjust the angular position of the grabber  113  using controller  745  based on the current relative positioning of the lift arm  111 . For example, when the lift arm  111  is lowered below a threshold height, the range that the angle the grabber  113  can be adjusted below the baseline angular position  702  using controller  745  is reduced. In some implementations, once the lift arm  111  is lowered below a threshold height, the control push button  540   b  is disengaged to prevent an operator from adjusting the angle of the grabber  113  below the baseline angular position  702 . Restricting or eliminating the operator&#39;s ability to adjust the grabber  113  angle below the baseline angular position  702  when the lift arm  111  is positioned below a threshold height reduces the risk of damage to the vehicle  102  by preventing the grabber  113  from hitting the ground. 
     In some implementations, the controller  745  can be used to adjust the angle of the grabber  113  freely from about 90 degrees above and to about 90 degrees below the angle of the surface  550  on which the vehicle  102  is positioned. In some examples, a controller  745  can be used to adjust the angle of the grabber  113  up and down between 75 degrees above and about 75 degrees below the angle of the surface on which the vehicle  102  is positioned. 
     As depicted in  FIG. 8E , the free rotation feature of the controller  745  can be used to rotate the grabber to engage a refuse container  130  that has fallen over or is otherwise outside the reach of the grabber  113  within the predetermined angle range of the standard controller  745  settings. In some examples, the operator can engage the free rotation function by pressing and holding one of the push control buttons  540   a ,  540   b  for a threshold amount of time (e.g., 5 seconds). In some implementations, the free rotation function can be engaged by pressing a particular push control button designated for free rotation control (e.g.,  540   c ). 
     Once the free rotation function is engaged, the operator  150  can use the first push control button  540   a  to adjust the angle of the grabber  113  upwards to about 90 degrees above the angle of the surface  550  on which the vehicle  102  is positioned such that the grabber  113  is pointing upwards and is substantially perpendicular with the surface  550  on which the vehicle  102  is sitting. In free rotation mode, the operator  150  can use the second push control button  540   b  to adjust the angle of the grabber  113  downward to about 90 degrees below the angle of the surface  550  on which the vehicle  102  is positioned such that the grabber  113  is pointing downwards and substantially perpendicular with the surface  550  on which the vehicle  102  is sitting. In some examples, the push control buttons  540   a ,  540   b  function as continuous push control buttons in free rotation mode such that the angle of the grabber  113  is adjusted continuously as long as one of the buttons  520  is engaged, as described above. In some implementations, the push control button  540   a ,  540   b  can be used in free rotation mode to adjust the angular position of the grabber  113  in defined increments within the free rotation angular range. 
     In some implementations, the controller  745  for the grabber  113  is returned to a standard mode from free rotation mode by pressing the first push control button  540   a . In some examples, the controller  745  for the grabber  113  can be returned to a standard mode from free rotation mode by pressing a third push control button  560   c . Pressing the third push control button  560   c  also resets the angle of the grabber  113  to the baseline angular position  702 . 
     Certain features of the refuse collection vehicle may be disabled while the controller  745  for the grabber  113  is in free rotation mode. For example, automatic levelling of the grabber  113  while the vehicle  102  is performing a dump cycle may be disabled when the grabber  113  is in free rotation mode. In some implementations, interlocks coordinating the range of angular movement of the grabber  113  with the height of the lift arm  111  are disengaged when the grabber  113  is in free rotation mode. 
     In some implementations, a first controller can be used to set the baseline angular position  702  for the grabber  113 , and a second controller can be used to adjust the angle of the grabber  113  within a range around the baseline angular position  702 . For example, in some implementations a touchscreen display controller (such as controller  542 ) is used to set the baseline angular position  702 . Once the baseline angular position  702  is set, a second controller can be used to adjust the angle of the grabber  113  within a predetermined range. For example, after setting the baseline positioning, a driver of vehicle can use press and hold pushbutton on a joystick controller (e.g., pushbutton  540   a  on joystick  745  of  FIGS. 8A-8E ) and, while maintaining engagement of the pushbutton, move the joystick controller  745  left or right to change the angle of the grabber upwards or downward relative to the surface  550  the tires of the vehicle  102  are positioned on. In some implementations, the joystick controller  745  can be used to adjust the angle of the grabber  113  within a predetermined range around the baseline angular position  702  (e.g., 6 degrees above the baseline angular position  702  to 3 degrees below the baseline angular position  702 . 
     In some implementations, the angle of the grabber  113  is automatically returned to the baseline angular position  702  following completion of a dump cycle. For example, based on data received from the body sensors  160  on the vehicle  102 , an onboard computing device  132  can determine that the vehicle has completed a dump cycle and has released the refuse container  130  to the ground  550 . In response to detecting that the dump cycle is complete, onboard computing device  132  can determine the current angular positioning of the grabber  113  based on data received from the grabber sensor  106   b , and determines the amount angular adjustment of the grabber  113  required to reposition the grabber  113  in the baseline angular position  702 . Based on this determination, the grabber is automatically moved the amount required to reposition the grabber  113  in the baseline angular position  702 . 
     In some implementations, the lift arm  111  and the grabber  113  of the vehicle  102  can be automatically positioned to engage a refuse container  130  detected based on one or more images captured by a camera  112  on the vehicle  102  and processed by a computing device (e.g. computing device  132 ). A computing device can receive one or more images from camera  112  and process the images using machine learning based image processing techniques to detect the presence of a refuse container  130  in the image. For example, a computing device can receive an image from camera  112  and determine, based on machine learning image processing techniques, that the vehicle  102  is positioned within a sufficient distance to engage a refuse container  130 . In some implementations, a video feed of the refuse container  130  is provided by the side view camera  112  and transmitted to a computing device for machine learning based image processing techniques to detect the presence of a refuse container  130 . U.S. patent application Ser. No. 16/781,857 filed Feb. 4, 2020 discloses systems and methods for determining the location of a refuse container using image processing techniques. The entire content of U.S. patent application Ser. No. 16/781,857 is incorporated by reference herein. 
     In some examples, a computing device can process the images provided by camera  112  to determine a location of each side of a detected refuse container  130 . In some examples, the locations of the sides of the detected refuse container  130  determined by image processing are provided as GPS coordinates, and based on these coordinates, the width of the refuse container  130  can be determined. In some examples, the width of the refuse container  130  is determined by processing the image using machine learning techniques to detect two opposing sides of the refuse container  130  and determine the distance between the sides. 
     In some examples, a computing device can process the images provided by camera  112  to determine a location of one or more corners of the detected refuse container  130 . The detected corners of the detected refuse container  130  can be provided as GPS coordinates, and based on these coordinates, the height and angular position of the refuse container  130  relative to the vehicle  102  can be determined. In some implementations, a distance value from the closest point of the detected container to the grabber beam  248  is determined based on a global coordinate of the camera location in relation to the location of the grabber beam  248 . 
     In response to detecting the presence of a refuse container  130  and determining the position of the container  130  relative to the vehicle  102  based on image processing of an image captured by camera  112 , a signal is sent to a computing device  132  of the vehicle  102  to automatically adjust the position of the lift arm  111  and/or the position of grabber  113  of the vehicle  102 . For example, a signal is sent to the computing device  132  of the vehicle  102  to automatically adjust the height of the lift arm  111  and the angular position  113  to engage a refuse container  130  at the position determined based on the machine learning image processing of the image of the container  130 . 
     Upon receiving a signal conveying the position of a refuse container  130  determined based on processing an image of the container  130 , an onboard computing device  132  determines the relative position of lift arm  111  based on data received from arm sensor  106   a . Based on the current lift arm  111  position, the computing device  132  determines the amount of lift arm  111  travel required to adjust the lift arm  111  from the current position to an optimal position for engaging the refuse container  130  at the position detected based on image processing. The lift arm  111  is automatically raised or lowered, based on the current lift arm  111  position and the detected refuse container  130  position, until the lift arm sensor  106   a  detects that the lift arm  111  has reached the optimal position for engaging the refuse container  130 . 
     Upon receiving a signal conveying the position of a refuse container  130  determined based on processing an image of the container  130 , an onboard computing device  132  determines the current angular position of the grabber  113  based on data received from grabber sensor  106   b . Based on current angular position of the grabber  113 , the computing device  132  determines the amount of rotation of the grabber  113  required to adjust the angular position of the grabber  113  from the current angular position to an optimal angle for engaging the refuse container  130  at the position detected based on image processing. The grabber  113  is automatically tilted upwards or downwards, based on the current angular position of the grabber  113  and the detected refuse container  130  position, until the grabber sensor  106   b  detects that the angular position of the grabber  113  is equal to an optimal angle for engaging the refuse container  130 . 
     The automatic positioning of the lift arm  111  and/or the grabber  113  of the refuse collection vehicle  102  based on processing image(s) of the refuse container  130  by a computing device can be conducted automatically with minimal or no operator involvement. For example, as described above, the relative positioning the lift arm  111  and the grabber  113  can be automatically adjusted without operator input in response to receiving a signal from a computing device conveying the position of the refuse container  130  as determined by processing an image of the container  130  received from camera  112 . In some examples, the position of the lift arm  111  and the grabber  113  are automatically adjusted based on receiving data conveying the position of the refuse container  130  and in response to an operator  150  of the vehicle manually engaging a switch to initiate a dump cycle (as depicted in  FIGS. 2A-2C ). In some implementations, the switch to initiate the dump cycle is provided as one or more foot pedals positioned on the floorboard of the vehicle  102 . U.S. patent application Ser. No. 16/781,857 filed Feb. 4, 2020 discloses foot pedals for initiating and controlling a dump cycle. The entire content of U.S. patent application Ser. No. 16/781,857 is incorporated by reference herein. 
     In some implementations, the refuse collection vehicle  102  includes one or more container detection sensors  180   a ,  180   b ,  180   c  and the lift arm  111  and the grabber  113  are automatically positioned to engage a refuse container  130  based on data received from the one or more container detection sensors  180   a ,  180   b ,  180   c . As depicted in  FIGS. 3A-3C , the vehicle  102  can include one or more container detection sensors  180   a ,  180   b ,  180   c . In some implementations, the container detection sensors  180   a ,  180   b ,  180   c  are coupled to the grabber beam  248  of the refuse collection vehicle  102 . In some examples, the vehicle  102  includes three refuse container sensors  180   a ,  180   b ,  180   c . In some implementations, as depicted in  FIGS. 3A-3C , each of the refuse container sensors  180   a ,  180   b ,  180   c  is coupled to the grabber beam  248  proximate the grabber  113  and is positioned at a different angle. For example, a first sensor  180   a  can be positioned perpendicular to a longitudinal axis of the grabber beam  248 , a second sensor  180   b  can be positioned at a 30 degree angle relative to the longitudinal axis of the grabber beam  248 , and a third sensor  180   c  can be positioned at a 45 degree angle relative to the longitudinal axis of the grabber beam  248 . In some implementations, the vehicle  102  includes two refuse container sensors (e.g., sensors  180   a  and  180   c ). Multiple container detection sensors  180   a ,  180   b ,  180   c  can be implemented to provide redundancy in refuse container detection. 
     In some implementations, the one or more container detection sensors  180   a ,  180   b ,  180   c  are contained within an enclosure. For example, the container detection sensors  180   a ,  180   b ,  180   c  can be contained within a metal enclosure. Placing the container detection sensors  180   a ,  180   b ,  180   c  in an enclosure can help protect the container detection sensors  180   a ,  180   b ,  180   c  from debris. 
     Container detection sensors  180   a ,  180   b ,  180   c  for detecting the position of a refuse container  130  proximate the vehicle  102  can include, but are not limited to, an analog sensor, a digital sensor, a CAN bus sensor, a magnetostrictive sensor, a RADAR sensor, a LIDAR sensor, a laser sensor, an ultrasonic sensor, an infrared (IR) sensor, a stereo camera sensor, a three-dimensional (3D) camera, an in-cylinder sensor, or a combination thereof. In some examples, container detection sensors  180   a ,  180   b ,  180   c  include optical sensors. In some implementations, container detection sensors  180   a ,  180   b ,  180   c  include two or more analog ultrasonic sensors coupled to the grabber beam  248 . 
     A computing device (such as onboard computing device  132  of  FIG. 1 ) can receive data from the container detection sensors  180   a ,  180   b ,  180   c  indicating the presence and position of a refuse container  130 . In some implementations, the position of lift arm  111  and/or the position of the grabber  113  are automatically positioned to updated positions provided by the operator  150  using one or more controllers (such as controller  642  and controller  142 ) in response to a computing device receiving data from the container detection sensors  180   a ,  180   b ,  180   c  indicating the presence of a refuse container  130 . For example, computing device  132  can receive data from the container detection sensors  180   a ,  180   b ,  180   c  and determine, based on the data received, that the vehicle  102  is positioned within a distance sufficiently close to a refuse container  130  to engage the refuse container  130 . In some examples, in response to a determination by the computing device  132  that the vehicle  102  is in proximity to engage a refuse container, the lift arm  111  and the grabber  113  are automatically moved to a position selected by the operator  150  using controller  642  and controller  142 . 
     In some implementations, a computing device can determine a distance value from the closest point of the detected container  130  to the grabber beam  248  based on the data received from the container detection sensors  180   a ,  180   b ,  180   c . For example, computing device  132  can receive data from the container detection sensors  180   a ,  180   b ,  180   c  and determine, based on the data, that the vehicle  102  is positioned within a sufficient distance to engage a refuse container  130 . In some examples, the speed of travel of the lift arm  111  is automatically changed to a default speed for container engagement in response to a determination that the vehicle  102  is within a threshold distance of the refuse container  130  based on the data received from container detection sensors  180   a ,  180   b ,  180   c.    
     In response to the container detection sensors  180   a ,  180   b ,  180   c  detecting the presence of a refuse container  130  and the computing device  132  determining the position of the detected container  130  relative to the vehicle  102  based on data received from the container detection sensors  180   a ,  180   b ,  180   c , a signal is sent to the computing device  132  of the vehicle  102  to automatically adjust the relative position the lift arm  111  and/or the grabber  113 . For example, a signal is sent to the computing device  132  of the vehicle  102  to automatically adjust the height of the lift arm  111  and/or the angular position of the grabber  113  based on the data received from the container detection sensors  180   a ,  180   b ,  180   c . For example, upon receiving a signal conveying the a distance value from the closest point of the detected container  130  to the grabber beam  248  as determined based on data captured by the container detection sensors  180   a ,  180   b ,  180   c , an onboard computing device  132  determines the current relative positioning of the lift arm  111  and grabber  113  based on data received from the body sensors  106   a  and  106   b , and determines the amount of lift arm  111  travel and/or angular adjustment of the grabber  113  required to engage the detected refuse container  130 . 
     The automatic positioning of the lift arm  111  and the grabber  113  of the refuse collection vehicle  102  based on data captured by the container detection sensors  180   a ,  180   b ,  180   c  and processed by a computing device  132  can be conducted automatically with minimal or no operator involvement. For example, as described above, the relative positioning the lift arm  111  and the angular position of the grabber  113  can be automatically adjusted without operator input in response to receiving a signal from a computing device conveying the position of the refuse container  130  as determined by data captured by the container detection sensors  180   a ,  180   b ,  180   c . In some examples, the lift arm  111  and the grabber  113  are automatically adjusted based on receiving data conveying the position of the refuse container  130  and in response to an operator  150  of the vehicle manually engaging a switch to initiate a dump cycle (as depicted in  FIGS. 2A-2C ). 
       FIG. 9  depicts an example computing system, according to implementations of the present disclosure. The system  900  may be used for any of the operations described with respect to the various implementations discussed herein. For example, the system  900  may be included, at least in part, in one or more of the onboard computing device  132 , and/or other computing device(s) or system(s) described herein. The system  900  may include one or more processors  910 , a memory  920 , one or more storage devices  930 , and one or more input/output (I/O) devices  950  controllable via one or more I/O interfaces  940 . The various components  910 ,  920 ,  930 ,  940 , or  950  may be interconnected via at least one system bus  960 , which may enable the transfer of data between the various modules and components of the system  900 . 
     While this specification contains many specifics, these should not be construed as limitations on the scope of the disclosure or of what may be claimed, but rather as descriptions of features specific to particular implementations. Certain features that are described in this specification in the context of separate implementations may also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation may also be implemented in multiple implementations separately or in any suitable sub-combination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination may in some examples be excised from the combination, and the claimed combination may be directed to a sub-combination or variation of a sub-combination. 
     Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous. Moreover, the separation of various system components in the implementations described above should not be understood as requiring such separation in all implementations, and it should be understood that the described program components and systems may generally be integrated together in a single software product or packaged into multiple software products. 
     A number of implementations have been described. Nevertheless, it will be understood that various modifications may be made without departing from the spirit and scope of the disclosure. For example, various forms of the flows shown above may be used, with steps re-ordered, added, or removed. Accordingly, other implementations are within the scope of the following claim(s).