Patent Publication Number: US-2022234505-A1

Title: Video Display for Refuse Collection

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims the benefit under 35 U.S.C. § 119(e) of U.S. Patent Application No. 63/142,380, entitled “Video Display for Refuse Collection,” filed Jan. 27, 2021, which is incorporated herein by reference in its entirety. 
    
    
     TECHNICAL FIELD 
     This disclosure relates to methods of operating a refuse collection vehicle and monitoring refuse collection performed by the refuse collection vehicle. 
     BACKGROUND 
     Refuse collection vehicles have been used for generations for the collection and transfer of waste. The safe and productive operation of a refuse collection vehicle requires that the operator of the vehicle perform many tasks while simultaneously monitoring the vehicle and surroundings. Many refuse collection vehicles have mechanisms, such as grabber arms, that are operated to collect refuse from refuse containers to the side of vehicle, rather than the front of the vehicle. As a result, during refuse collection, operators of these types of vehicles may be required to temporarily divert their attention from the front of the vehicle and path of travel in order to monitor the collection of refuse by the vehicle. 
     SUMMARY 
     In an example implementation, a refuse collection vehicle includes a grabber that is operable to engage a refuse container, a lift arm coupled to the grabber and operable to raise and lower the grabber, a camera that is arranged to generate video data of a scene external to the refuse collection vehicle, and a semi-transparent display device configured to display the video data generated by the camera, wherein the semi-transparent display is positioned within a forward line of sight of an operator of the refuse collection vehicle 
     In an aspect combinable with the example implementation, the semi-transparent display device includes a semi-transparent film attached to a windshield of the refuse collection vehicle. 
     In another aspect combinable with any of the previous aspects, the semi-transparent film is attached to the windshield of the refuse collection vehicle in line with a steering wheel of the refuse collection vehicle. 
     In another aspect combinable with any of the previous aspects, the semi-transparent film includes beamsplitter glass. 
     In another aspect combinable with any of the previous aspects, the refuse collection vehicle includes a monitor arranged to project the video data generated by the camera onto the semi-transparent film, and the semi-transparent film reflects the video data projected by the monitor. 
     In another aspect combinable with any of the previous aspects, the semi-transparent display device has a transparency in a range of 50% transparent to 70% transparent. 
     In another aspect combinable with any of the previous aspects, the semi-transparent display device comprises an electronic glasses device worn by an operator of the refuse collection vehicle. 
     In another aspect combinable with any of the previous aspects, the video data generated by the camera is displayed on the semi-transparent display device in real time. 
     In another aspect combinable with any of the previous aspects, the video data is generated while the refuse collection vehicle is performing a dump cycle. 
     In another aspect combinable with any of the previous aspects, the camera is a first camera configured to generate video data of a side of the refuse collection vehicle, and the refuse collection vehicle includes a second camera configured to generate video data of a hopper of the refuse collection vehicle and a sensor configured to detect a lift angle of the lift arm of the refuse collection vehicle. 
     In another aspect combinable with any of the previous aspects, when the sensor detects that the lift arm of the refuse collection vehicle is below a threshold angle, a first stream of video data generated by the first camera is displayed on the semi-transparent display device, and when the sensor detects that the lift arm of the refuse collection vehicle is above the threshold angle, a second stream of video data generated by the second camera is displayed on the semi-transparent display device 
     In another example implementation, a method of operating a refuse collection vehicle to collect refuse from a refuse container includes receiving video data from a camera coupled to the refuse collection vehicle and arranged to generate video data of a scene external to the refuse collection vehicle, and controlling a graphical display system of the refuse collection vehicle to display the video data received from the camera onto a semi-transparent display device of the graphical display system positioned within a forward line of sight of an operator of the vehicle. 
     In an aspect combinable with the example implementation, the semi-transparent display device comprises a semi-transparent film attached to a windshield of the refuse collection vehicle. 
     In another aspect combinable with any of the previous aspects, the semi-transparent film is attached to the windshield of the refuse collection vehicle in line with a steering wheel of the refuse collection vehicle. 
     In another aspect combinable with any of the previous aspects, controlling the graphical display system of the refuse collection vehicle to display the video data received from the camera onto the semi-transparent display device of the graphical display system includes controlling a monitor device to display the video data generated by the camera onto the semi-transparent film, and the semi-transparent film reflects the video data displayed by the monitor. 
     In another aspect combinable with any of the previous aspects, the video data generated by the camera is displayed on the semi-transparent display device in real time. 
     In another aspect combinable with any of the previous aspects, the video data is received from the camera and displayed on the semi-transparent display device in response to receiving one or more signals indicating that the refuse collection vehicle is initiating a dump cycle. 
     In another aspect combinable with any of the previous aspects, the video data is received from the camera and displayed on the semi-transparent display device in response to receiving one or more signals indicating that the refuse collection vehicle is proximate the refuse container. 
     In another aspect combinable with any of the previous aspects, the camera is a first camera configured to generate video data of a side of the refuse collection vehicle, and the video data is a first video stream generated by the first camera depicting a grabber of the refuse collection vehicle engaging the refuse container. 
     In another aspect combinable with any of the previous aspects, the method includes receiving a signal from a sensor indicating that an angle of a lift arm of the refuse collection vehicle is above a threshold angle, and in response to receiving the signal, causing the semi-transparent display device to display a second video stream generated by a second camera arranged to generate video data of a hopper of the refuse collection vehicle. 
     In another aspect combinable with any of the previous aspects, the second video stream depicts contents of the refuse container being dumped into the hopper of the refuse collection vehicle. 
     In another aspect combinable with any of the previous aspects, the signal is a first signal, and the method includes receiving a second signal from the sensor, the second signal indicating that the angle of the lift arm of the refuse collection vehicle is below the threshold angle, and in response to receiving the second signal, causing the semi-transparent display device to display a third video stream generated by the first camera. 
     In another aspect combinable with any of the previous aspects, the third video stream depicts the refuse container being lowered by the lift arm and released by the grabber. 
     In another aspect combinable with any of the previous aspects, the method includes receiving a signal from a sensor indicating that a grabber of the refuse collection vehicle has released the refuse container, and in response to receiving the signal, causing the semi-transparent display device to stop displaying the video data. 
     Other implementations include corresponding systems, apparatus, and computer programs, configured to perform the actions of the methods, encoded on computer storage device. 
     Potential benefits of the one or more implementations described in the present specification may include improved safety by enabling the operator on a refuse collection vehicle to simultaneously monitor refuse collection being performed by the vehicle while maintaining his or her gaze forward to the front of the vehicle (e.g., towards the path of travel). The one or more implementations may also increase waste collection efficiency and reduce operator error. The one or more implementations may also reduce the likelihood of damaging refuse collection vehicles or surrounding objects during refuse collection. The one or more implementations may reduce neck fatigue of an operator by projecting video data of areas of interest within the operator&#39;s forward facing line of sight. In addition, the one or more implementations may reduce reaction time of an operator by shifting the operator&#39;s line of sight from a remote monitor to the forward view and allowing the operator to simultaneously monitor video data and the surroundings to the front of the vehicle. 
     The details of one or more embodiments are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the disclosure will be apparent from the description and drawings, and from the claims. 
    
    
     
       DESCRIPTION OF DRAWINGS 
         FIG. 1  depicts an example system for collecting refuse. 
         FIGS. 2A-2C  depict an exemplary side-loader refuse collection vehicle performing a dump cycle. 
         FIG. 3  depicts a front perspective view of the side-loader refuse collection vehicle of  FIGS. 2A-2C  with a graphical display system. 
         FIG. 4  depicts the graphical display system of  FIG. 3 . 
         FIG. 5  depicts a flow diagram of an example process for displaying video data on the graphical display system of  FIGS. 3 and 4 . 
         FIGS. 6 and 7  depict example displays of video data using the graphical display system of  FIGS. 3 and 4 . 
         FIG. 8  depicts an example computing system, according to implementations of the present disclosure. 
     
    
    
     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 and/or recycling). 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, empty the refuse in the containers into a hopper of the vehicle  102 , to enable transport of 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 . For example, a garbage collection vehicle may be a truck with an automated side loader (ASL). Alternatively, the vehicle may be a front-loading truck, a rear loading truck, a roll off truck, or some other type of garbage collection vehicle. A vehicle with an 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. A front-loading vehicle may include body components such as a pump, tailgate, packer, grabber, and so forth. A rear loading vehicle may include body components such as a pump, blade, tipper, and so forth. A roll off vehicle may include body components such as a pump, hoist, cable, 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 vehicle, and/or expel the garbage from the vehicle. 
     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  104 . 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. Sensors may also be arranged to provide sensor data  110  describing the position of external objects, such as a refuse container. 
     In some implementations, one or more sensors  106  can be provided on the vehicle body to evaluate cycles and/or other parameters of various body components. For example, one or more sensors  106  can measure the hydraulic pressure of various hydraulic components, and/or pneumatic pressure of pneumatic components. 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 grabber of the vehicle  102  and the position of a lift arm of the vehicle  102 . 
     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, 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, the sensor data 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 compliant with International Organization of Standardization (ISO) standard 11898 connects the various sensors with the onboard computing device  132 . In some implementations, a Controller Area Network (CAN) bus connects the various sensors with the onboard computing device  132 . For example, a CAN bus compliant with ISO standard 11898 can connect the various sensors with the onboard computing device  132 . In some implementations, the sensors may be incorporated into the various body components. Alternatively, the sensors may be separate from the body components. In some implementations, the sensors digitize the signals that communicate the sensor data before sending the signals to the onboard computing device  132 , if the signals are not already in a digital format. 
     The analysis of the sensor data  110  can be 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 grabber position or lift arm position. 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  132  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/o microphones) to record video and/or audio operational activities of the vehicle. The onboard computing device  132  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  132  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  can each generate image data  128  that includes one or more images or video of a scene external to and in proximity to the vehicle  102  and/or images or video of an interior of the vehicle  102 . In some implementations, one or more cameras  112  are arranged to capture image(s) and/or video of a container  130  before, after, and/or during the operations of body components  104  to engage and empty a container  130 . For example, the camera(s)  112  can be arranged to image objects dumped into the hopper of the vehicle. As another 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 and in proximity to the vehicle  102 . 
     In some implementations, the camera(s)  112  are communicably coupled to a graphical display system  120  to communicate images and/or video captured by the camera(s)  112  to the graphical display system  120 . In some implementations, the graphical display system  120  is placed within the interior of the vehicle. For example, as depicted in  FIGS. 2A-2C , the graphical display system  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 using the graphical display system  120 . As will be described in further detail herein, in some implementations, the graphical display system  120  includes a heads-up display that projects images and/or video within a forward-facing line of sight of the operator of the vehicle. As a result, the operator of the vehicle  102  can view the images and/or video displayed by the heads up graphical display system without having to turn or shift his or her focus from the front of the vehicle  102 . 
     In some implementations, the images and/or video captured by the camera(s)  112  can be communicated to a graphical display system  120  using the onboard computing device  132  in the vehicle  102 . For example, 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, and the onboard computing device  132  controls the images or video that are displayed by the graphical display system  120 . In some implementations, a J1939 bus or CAN bus connects the camera(s) with the onboard computing device  132 . 
     In some implementations, the camera(s) are incorporated into the various body components. Alternatively, the camera(s) may be separate from the body components. 
       FIGS. 2A-2C  depict an exemplary side-loader refuse collection vehicle performing a dump cycle. The side-loader refuse collection vehicle  202  includes various body components including, but not limited to: a lift arm  204 , a grabber mechanism  206 , a back gate or tailgate  208 , and a hopper  210  to collect refuse during operation. 
     One or more sensors  212 ,  214 ,  216  (e.g., similar to sensor devices  106  of  FIG. 1 ) are situated on the vehicle  202  to determine the state and/or detect the operations of the body components  204 ,  206 ,  208 ,  210 . In the example shown, the lift arm  204  includes an arm position sensor  212  that is arranged to detect the position of the lift arm  204 , such as it position throughout a dump cycle of lifting a refuse container  230  and emptying its contents into the hopper  210 . The sensor data provided by arm position sensor  212  can be analyzed to monitor a dump cycle being conducted by the refuse collection vehicle  202 . For example, the arm position sensor  212  can provide data about the current position of the lift arm  204 , which, as described in further detail herein, can be used to determine the current step being conducted in a dump cycle being performed by the vehicle  202 . 
     In the example shown, container detection sensors  214 ,  216  are arranged on the vehicle  202  to detect the presence and position of a refuse container  230 . For example, container detection sensors  214 ,  216  detect whether a can is fully engaged by the grabber mechanism  206 . Multiple container detection sensors  214 ,  216  can be implemented to provide redundancy in refuse container detection. 
     Sensors  212 ,  214 ,  216  can include, but are not limited to, a mechanical plunger, a contact sensor, an analog sensor, a digital sensor, a CAN bus sensor, a RADAR sensor, a LIDAR sensor, an ultrasonic sensor, a camera, or a combination thereof. In some implementations, the arm position sensor  212  includes one or more of an in-cylinder stroke transducer, an external linear variable differential transformer (lvdt), a proximity switch, a limit switch, a magnetostrictive device, or a combination thereof. In some implementations, the container detection sensors  214 ,  216  include one or more of a RADAR sensor, a LIDAR sensor, a laser sensor, a sonar sensor, an image recognition device, or a combination thereof. 
     The vehicle  202  also includes one or more cameras  234 ,  236 . In the example shown in  FIGS. 2A-2C , a first camera  234  is positioned to visualize the environment proximate a side of the vehicle  202 , including a refuse container  230  to be engaged by the vehicle  202 . For example, the side view camera  234  can be aligned with a centerline of the grabber mechanism  206 . The side view camera  234  helps provide the vehicle operator  150  with a clear visual line of sight of a refuse container  230  located to the side of the vehicle  202 . This can be particularly useful when the refuse container to be engaged is within close proximity of the vehicle  202 . 
     In some implementations, the side view camera  234  is contained within an enclosure. For example, the camera  234  can be contained within a metal enclosure that also includes a light source. Placing the side view camera  234  in an enclosure can help protect the camera  234  from debris. 
     In the example shown, a second camera  236  is positioned at the top of the vehicle  202  in order to visualize refuse contained in the vehicle  202  or falling into the vehicle  202 , such as refuse in the hopper of the vehicle  202 . The angle of each of the cameras  234 ,  236  can be adjusted by the vehicle operator  150 . 
     The camera(s)  234 ,  236  may also be placed in other positions and/or orientations. For example, the vehicle  202  can include one or more cameras placed within the cab of the vehicle  202  to capture images or video of the inside of the cab of the vehicle  202  and/or of the exterior of the vehicle  202  through a windshield of the vehicle  202 . 
     Images and/or video captured by camera(s)  234 ,  236  are provided to a graphical display system  220  and are displayed to the operator  150  using the graphical display system  220 . As shown in  FIGS. 2A-2C , the graphical display system  220  is placed within the cab of vehicle  202  such that the images and/or video can be viewed by the operator  150  of the vehicle  202  using the graphical display system  220 . In some implementations, the graphical display system  220  includes a screen and images and/or video can be viewed by an operator  150  of the vehicle  202  on the screen. 
     In some implementations, the graphical display system  220  is a heads-up display system. For example, referring to  FIGS. 3 and 4 , the graphical display system  220  can include a monitor  304  configured to display images and/or video and a semi-transparent film  302  attached to the inside of the windshield  238  of the vehicle  202  and configured to reflect the images and/or video displayed by the monitor  304 . 
     The monitor  304  has a screen  306  that is capable of displaying images or video, such as image or video data received generated by the onboard cameras  234 ,  236 . As can be seen in  FIG. 4 , the monitor  304  is attached to the dashboard  240  of the vehicle  202  behind the steering wheel  242  of the vehicle  202  and is aligned with the semi-transparent film  302 . As depicted in  FIG. 3 , the semi-transparent film  302  is positioned on the windshield  238  such that the semi-transparent film  302  is within the operator&#39;s line of sight  310  when the operator  150  is looking forward out the windshield  238  (e.g., when looking at the road or objects in front of the vehicle  202 ). For example, as depicted in  FIGS. 3, 6 and 7 , the semi-transparent film  302  can be attached to the inside of the windshield  238  of the vehicle  202  in line with the steering wheel  242  of the vehicle  202  such that the semi-transparent film  302  is positioned in the operator&#39;s forward-facing line of sight  310  when the operator  150  is driving the vehicle  202 . The semi-transparent film  302  can be attached to the windshield  328  using one or more fastening mechanisms. Fastening mechanisms for attaching the semi-transparent film  302  to the windshield  328  can include, but are not limited to, adhesive strips, double-sided adhesive tape, liquid adhesive, suction mechanisms (e.g., suction brackets), or a combination thereof. 
     The monitor  304  and semi-transparent film  302  are positioned relative to one another such that images and/or video displayed on the screen  306  of the monitor  304  are projected onto and reflected by the semi-transparent film  302 . The semi-transparent film  302  is attached to the windshield  238  at a position that is within an operator&#39;s line of sight  310  when driving the vehicle  202  or viewing the environment in front of the vehicle  202  through the windshield  238 . As a result, any images or video displayed by the monitor  304  are reflected by the semi-transparent film  302  within the operator&#39;s line of sight  310 , making it easy for the operator  150  to view the images or video while maintaining his gaze on the environment in front of the vehicle  202  (e.g., the road) through the windshield  238 . As can be seen in  FIGS. 3 and 4 , the monitor  304  is not within the line of sight  310  of the operator  150 . As such, the operator  150  does not view the images and/or video displayed on the screen  306  of the monitor  304  directly, but rather views the reflection of the images and/or video reflected within the operator&#39;s line of sight  310  generated by the semi-transparent film  302  on the windshield  238 . 
     In some implementations, the monitor  304  has reverse image capability and is configured to display a reverse of the images and/or video captured by camera(s)  234 ,  236  and provided to a graphical display system  220 . Since the semi-transparent film  302  reflects the images or video displayed by the monitor  304 , using a monitor  304  that displays a reverse of the images or video enables the reflection provided by the semi-transparent film  302  in the operator&#39;s forward-facing line of sight  310  to be a non-reversed representation of the images or video captured by the camera(s)  234 ,  236 . In addition, in some implementations, the monitor  304  has a substantially flat screen  306 , which enables the monitor  304  to be concealed from the operator&#39;s line of sight  310  when the monitor  304  is positioned on the dashboard  240  of the vehicle  202  behind the steering wheel  242 . In some implementations, the monitor  304  includes an RCA type input. 
     The semi-transparent film  302  has a level of transparency that enables the operator  150  to view the images and/or video reflected by the semi-transparent film  302  while still being able to view the environment external to the vehicle  202  (e.g., the objects and/or road in front of the vehicle  202 ) through the semi-transparent film  302 . In some implementations, the semi-transparent film  302  has a transparency ranging from about 50% transparent to about 70% transparent. In some implementations, the semi-transparent film  302  has a transparency ranging from about 50% transparent to about 60% transparent. The semi-transparent film  302  can be composed of any suitable semi-transparent, reflective material, such as beamsplitter glass or semi-transparent, reflective acrylic. In some implementations, the semi-transparent film is 50/50 beamsplitter glass. In some implementations, the semi-transparent film is 60/40 beamsplitter glass. In some implementations, the semi-transparent film is a semi-transparent organic light-emitting diode (OLED) screen. 
     In some implementations, a film of tint is positioned on the windshield  238  behind the semi-transparent film  302 . For example, a film of tint can be positioned between the semi-transparent film  302  and the windshield  238 . Positioning a film of tint on the windshield  238  behind the semi-transparent film  302  can improve the visibility of the images or video reflected by the semi-transparent film  302  during the daytime by shading some of the ambient light passing through the semi-transparent film  302 . 
     As can be seen in  FIGS. 3 and 4 , the semi-transparent film  302  has a rectangular shape. However, any suitable shape of semi-transparent film  302  can be used, such as square, circular, or oval shapes. In addition, any suitable size of semi-transparent film  302  can be used. In some implementations, the semi-transparent film has an area ranging from about 49 square inches to about 100 square inches. 
     In some implementations, the images and/or video captured by the camera(s)  234 ,  236  can be communicated to a graphical display system  220  via an onboard computing device  232  of the vehicle  202  (e.g., similar to onboard computing device  132  of  FIG. 1 ). Images and/or video captured by the camera(s)  234 ,  236  can be communicated from the computing device in the vehicle  202  to the graphical display system  220 , over a wired connection (e.g., an internal bus) and/or over a wireless connection. In addition, the images and/or video captured by the camera(s)  234 ,  236  can be communicated from the camera(s)  234 ,  236  to the onboard computing device  232  of the vehicle  202  over a wired connection (e.g., an internal bus) and/or over a wireless connection. In some implementations, a J1939 bus connects the camera(s)  234 ,  236  with the onboard computing device  232 . In some implementations, the camera(s)  234 ,  236  are communicably coupled to the graphical display system  220  (e.g., over a wired connection (e.g., an internal bus) or over a wireless connection), and image and/or video captured by the camera(s)  234 ,  236  can be communicated from the camera(s)  234 ,  236  directly to the graphical display system  220 . 
     In some implementations, the image or video data that is to be displayed by the graphical display system  220  is determined based on the detection of one or more events, such as the vehicle  202  conducting a dump cycle, the vehicle  202  being switched into a reverse gear, the vehicle  202  changing lanes, or the occurrence of certain diagnostic fault codes. For example, in some implementations, the images and/or video are provided to the graphical display system  220  at least in part based on data received from one or more body sensors  212 ,  214 ,  216 . For example, the onboard computing device  232  may execute processes that perform an analysis of the data received from the body sensors  212 ,  214 ,  216  to detect the presence of a triggering condition, such as initiation of a dump cycle, the lift arm  204  being in a particular position in its dump cycle. Upon detecting the triggering condition, the computing device can send a signal to one or more cameras  234 ,  236  to provide images and/or video captured by the camera to the graphical display system  220  via the onboard computing device  232 . 
     For example, as discussed above, container detection sensors  214 ,  216  are arranged on the vehicle  202  to detect the presence and position of a refuse container  230  relative to the vehicle  202 . Whenever one or more of the container detection sensors  214 ,  216  detect the presence of a refuse container  230  proximate the vehicle  202 , an onboard computing device  232  of the vehicle  202  can send a signal to camera  234  located on the side of the body of vehicle  202  to provide, in real-time, images and/or video of the surroundings to the side of the vehicle captured by the camera  234  to the graphical display system  220 . In some implementations, the vehicle  202  includes a controller  215  inside the cab of the vehicle  202  that can be used by the operator  150  to initiate a dump cycle. In response to the operator  150  initiating a dump cycle using the controller  215 , an onboard computing device  232  of the vehicle  202  can send a signal to the camera  234  located on the side of the body of vehicle  202  to provide, in real-time to the graphical display system  220 , images and/or video of the surroundings to the side of the vehicle captured by the camera  234 , including images and/or video of the refuse container  230  to be serviced and the grabber  206 . 
     In addition, images and/or video displayed by the graphical display system  220  can be controlled based on the position of the lift arm  204  of the vehicle  202 . For example, sensor  212  can monitor the angle of lift arm  204  during a dump cycle, and can provide this data to an onboard computing device  232  of the vehicle  202 . For example, whenever sensor  212  detects that the angle of lift arm  204  relative to the surface on which the vehicle  202  is positioned (e.g., the road surface) is below a threshold angle, an onboard computing device  232  of the vehicle  202  sends a signal to camera  234  located on the side of the body of vehicle  202  to provide to the graphical display system  220 , in real-time, images and/or video of the surroundings to the side of the vehicle  202  captured by the camera  234 , including images and/or video of the refuse container  230  being serviced and the grabber  206 .  FIG. 6  depicts an exemplary video stream of a refuse container  230  captured by camera  234  located on the side of vehicle  202  and presented on the monitor  304  As can be seen in  FIG. 6 , the video displayed by the monitor  304  is reflected into the operator&#39;s line of sight  310  by the semi-transparent film  302 . 
     In some implementations, whenever sensor  212  detects that the angle of lift arm  204  relative to the surface on which the vehicle  202  is positioned is above a threshold angle, an onboard computing device  232  of the vehicle  202  sends a signal to camera  236  located on the top of the vehicle  202  to provide to the graphical display system  220 , in real-time, images and/or video captured by the camera  236 , including images and/or video of refuse being dumped from the refuse container  230  into the hopper  210 .  FIG. 7  depicts an exemplary video stream of the inside of a hopper  210  of a side-loader vehicle  202  captured by camera  236  located on the top of vehicle  202  and presented on the monitor  304 . As can be seen in  FIG. 7 , the video of the hopper  210  displayed by the monitor  304  is reflected into the operator&#39;s line of sight  310  by the semi-transparent film  302 . 
     In some implementations, whenever the lift arm  204  is raised above the threshold angle, the images and/or video being provided to the graphical display system  220  are automatically switched from image(s)/video provided by the side view camera  234  to image(s)/video provided by the top view camera  236  (i.e. switched from the view depicted in  FIG. 6  to the view depicted in  FIG. 7 ). Similarly, in some implementations, whenever the lift arm  204  is lowered below the threshold angle, the images and/or video being provided to the graphical display system  220  are automatically switched from image(s)/video provided by the top view camera  236  to image(s)/video provided by the side view camera  234  (i.e. switched from the view depicted in  FIG. 7  to the view depicted in  FIG. 6 ). 
     As can be seen in  FIGS. 6 and 7 , due to the transparency of the semi-transparent film  302 , the operator  150  is able to simultaneously visualize both the images and/or video stream reflected by the semi-transparent film  302  and the environment external to the front of vehicle  202  through the semi-transparent film  302 . As a result, the operator  150  is able to more safely operate the vehicle  202  by maintaining his or her view of the front of the vehicle  202  while simultaneously monitoring the collection of refuse from the refuse container  230  using images and/or video reflected by the semi-transparent film  302 . 
       FIG. 5  depicts an example process  500  for monitoring collection of refuse by a refuse collection vehicle. 
     Video data, such as a video stream, is received from a first camera coupled to the refuse collection vehicle and arranged to generate video data of a scene external to the side of the vehicle ( 502 ). For example, an onboard computing device  232  (such as computing device  132  of  FIG. 1 ) receives, in real time, a video stream generated by a first camera  234  located on a side of the vehicle  202 . In some implementations, the video data generated by the first camera  234  is received in response to detecting that the grabber  206  of the vehicle  202  is positioned proximate a refuse container  230 . For example, the video data generated by the first camera  234  can be received by the onboard computing device  232  of the vehicle  202  in response to receiving a signal from one or more of the container detection sensors  214 ,  216  indicating the presence of a refuse container  230  proximate the vehicle  202 . In some implementations, the video data generated by the first camera  234  is received by the onboard computing device  232  in response to initiation of a dump cycle. For example, the video data generated by the first camera  234  can be received by the onboard computing device  232  of the vehicle  202  in response to an operator  150  of the vehicle  202  initiating a dump cycle using a controller  215 . 
     The onboard computing device  232  controls a graphical display system of the vehicle to display, on a semi-transparent display device within the vehicle operator&#39;s line of sight, the video data received from the first camera ( 504 ). For example, referring to  FIGS. 4 and 6 , the onboard computing device  232  can stream, in real time, the video data received from the first camera  234  to a monitor  304  of the graphical display system  220  (e.g., via an onboard computing device  232  of the vehicle  202 ). The monitor  304  can then displays the video stream generated by the first camera  234 , and as the monitor  304  displays the video stream, the semi-transparent film  302  attached to the windshield  238  of the vehicle  202  reflects the displayed video stream. For example, as can be seen in  FIG. 6 , the video stream generated by the first camera  234  depicts the side of the vehicle  202 , including the grabber  206  of the vehicle  202  and a refuse container  230  to be serviced by the vehicle  202 . This video stream is displayed in real time by the monitor  304  and reflected by the semi-transparent film  302  positioned within the operator&#39;s forward-facing line of sight  310 . As a result, the video stream is presented to the operator  150  within his or her line of sight  310  when the operator  150  is facing forward and looking through the windshield  238  of the vehicle. Because the film  302  is semi-transparent, the operator  150  can simultaneously monitor the video stream reflected by the semi-transparent film  302  while maintaining his or her view of the external environment to the front of the vehicle through the semi-transparent film  302 . 
     As video data is displayed in real time by the graphical display system  220 , the onboard computing device  232  determines whether a lift arm of the vehicle is above a threshold angle ( 506 ). For example, while the video stream received from the first camera  234  is being displayed by the graphical display system  220 , the onboard computing device  232  can receive signals from the arm position sensor  212  indicating the current position of the lift arm  204 . Based on the signals received from the arm position sensor  212 , the onboard computing device  232  can determine whether the lift arm  204  of the vehicle  202  is above a threshold angle relative to the surface on which the vehicle  202  is positioned (e.g., the road surface). In some implementations, the threshold angle corresponds to an angle of the lift arm  204  at which contents of the refuse container  230  engaged by the grabber  206  are being dumped into the hopper  210  (e.g., as depicted in  FIG. 2C ). In some implementations, the threshold angle corresponds to the angle of the lift arm  204  at which a refuse container  230  engaged by the lift arm is in view of the second camera  236  on top of the vehicle  202 . 
     If it is determined that the lift arm of the vehicle is below the threshold angle (e.g., as depicted in  FIGS. 2A and 2B ), the video data received from the first camera  234  continues to be displayed by the graphical display system  220 , as depicted in  FIG. 6 . 
     However, if it is determined that the lift arm of the vehicle is above the threshold angle, the onboard computing device  232  controls the graphical display system of the vehicle to display, on the semi-transparent display device within the vehicle operator&#39;s line of sight, video data received from a second camera that is configured to generate video data of a hopper of the vehicle ( 508 ). For example, referring to  FIGS. 4 and 7 , in response to determining that the angle of the lift arm  204  is above the threshold angle, the onboard computing device  232  can stream, in real time to the monitor  304  of the graphical display system  220 , the video data received from the second camera  236  positioned on the top of the vehicle  202 . As the monitor  304  displays the video stream generated by the second camera  236 , the semi-transparent film  302  on the windshield  238  reflects the displayed video stream. For example, as can be seen in  FIG. 7 , the video stream generated by the second camera  236  depicts the top of the vehicle  202 , including the hopper  210  of the vehicle  202  and any refuse being dumped from the refuse container  230  into the vehicle  202 . This video stream is displayed in real time by the monitor  304  and reflected by the semi-transparent film  302  within the operator&#39;s line of sight  310 . As a result, the video stream is presented in real time to the operator  150  within his or her line of sight  310  when the operator  150  is facing forward and looking through the windshield  238  of the vehicle. Because the film  302  reflecting the video stream is semi-transparent, the operator  150  can monitor the video stream generated by the second camera  236  and reflected by the semi-transparent film  302  while simultaneously maintaining his or her view of the external environment to the front of the vehicle  202  through the semi-transparent film  302 . 
     If, while the video data generated by the second camera  236  is being displayed by the graphical display system  220 , it determined that the lift arm  204  of the vehicle  202  is below the threshold angle, the video data displayed by the graphical display system  220  is automatically switched to video data generated by the first camera  234 . For example, after dumping contents of the refuse container  230  into the hopper  210 , the lift arm  204  is lowered in order to lower the refuse container  230  to the ground (or onto whatever surface the refuse container  230  was original placed). As the lift arm  204  lowers the refuse container  230 , the angle of the lift arm  204  falls below the threshold angle, as detected by sensor  212 . In response to receiving a signal from sensor  212  indicating that the angle of the lift arm  204  is below the threshold angle, the onboard computing device  232  controls the graphical display system  220  to switch from displaying the video stream generated by the second camera  236  (as depicted in  FIG. 7 ) back to displaying the video stream generated by the first camera  234  (as depicted in  FIG. 6 ). As a result, the operator  150  is able to use the reflection of the video stream in the semi-transparent film  302  to monitor the lift arm  204  lowering the refuse container  230  and the grabber  206  releasing the refuse container  230  to ensure proper placement and release of the refuse container  230 , while simultaneously maintaining his or her view of the external environment to the front of the vehicle  202  through the semi-transparent film  302 . 
     In some implementations, the onboard computing device  232  controls the graphical display system  220  to stop displaying video data in response to receiving a signal indicating that a grabber of the refuse collection vehicle has released the refuse container. For example, as previously discussed, the vehicle can include container detection sensors  214 ,  216  arranged on the vehicle  202  to detect the presence and position of a refuse container  230 . In some implementations, once the grabber  206  has released the refuse container  230  at the end of the dump cycle, the onboard computing device  232  receives a signal from one or more of the container detection sensors  214 ,  216  indicating that the refuse container has been released. In response, the onboard computing system can control the graphical display system  220  to stop displaying images and/or video data. In some implementations, the onboard computing device  232  controls the graphical display system  220  to stop displaying images and/or video data in response to receiving a signal from a sensor indicating that refuse collection vehicle  202  is no longer in proximity to a refuse container  230 . As a result, no images or video data are displayed on the semi-transparent film  302  when the vehicle is not located proximate a refuse container to be serviced (e.g., when the vehicle  202  is driving between service locations). 
       FIG. 8  depicts an example computing system, according to implementations of the present disclosure. The system  800  may be used for any of the operations described with respect to the various implementations discussed herein. For example, the system  800  may be included, at least in part, in one or more of the onboard computing device  132 ,  232  and/or other computing device(s) or system(s) described herein. The system  800  may include one or more processors  810 , a memory  820 , one or more storage devices  830 , and one or more input/output (I/O) devices  850  controllable via one or more I/O interfaces  840 . The various components  810 ,  820 ,  830 ,  840 , or  850  may be interconnected via at least one system bus  860 , which may enable the transfer of data between the various modules and components of the system  800 . 
     The processor(s)  810  may be configured to process instructions for execution within the system  800 . The processor(s)  810  may include single-threaded processor(s), multi-threaded processor(s), or both. The processor(s)  810  may be configured to process instructions stored in the memory  820  or on the storage device(s)  830 . For example, the processor(s)  810  may execute instructions for the various software module(s) described herein. The processor(s)  810  may include hardware-based processor(s) each including one or more cores. The processor(s)  810  may include general purpose processor(s), special purpose processor(s), or both. 
     The memory  820  may store information within the system  800 . In some implementations, the memory  820  includes one or more computer-readable media. The memory  820  may include any number of volatile memory units, any number of non-volatile memory units, or both volatile and non-volatile memory units. The memory  820  may include read-only memory, random access memory, or both. In some examples, the memory  820  may be employed as active or physical memory by one or more executing software modules. 
     The storage device(s)  830  may be configured to provide (e.g., persistent) mass storage for the system  800 . In some implementations, the storage device(s)  830  may include one or more computer-readable media. For example, the storage device(s)  830  may include a floppy disk device, a hard disk device, an optical disk device, or a tape device. The storage device(s)  830  may include read-only memory, random access memory, or both. The storage device(s)  830  may include one or more of an internal hard drive, an external hard drive, or a removable drive. 
     One or both of the memory  820  or the storage device(s)  830  may include one or more computer-readable storage media (CRSM). The CRSM may include one or more of an electronic storage medium, a magnetic storage medium, an optical storage medium, a magneto-optical storage medium, a quantum storage medium, a mechanical computer storage medium, and so forth. The CRSM may provide storage of computer-readable instructions describing data structures, processes, applications, programs, other modules, or other data for the operation of the system  800 . In some implementations, the CRSM may include a data store that provides storage of computer-readable instructions or other information in a non-transitory format. The CRSM may be incorporated into the system  800  or may be external with respect to the system  800 . The CRSM may include read-only memory, random access memory, or both. One or more CRSM suitable for tangibly embodying computer program instructions and data may include any type of non-volatile memory, including but not limited to: semiconductor memory devices, such as EPROM, EEPROM, and flash memory devices; magnetic disks such as internal hard disks and removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks. In some examples, the processor(s)  810  and the memory  820  may be supplemented by, or incorporated into, one or more application-specific integrated circuits (ASICs). 
     The system  800  may include one or more I/O devices  850 . The I/O device(s)  850  may include one or more input devices such as a keyboard, a mouse, a pen, a game controller, a touch input device, an audio input device (e.g., a microphone), a gestural input device, a haptic input device, an image or video capture device (e.g., a camera), or other devices. In some examples, the I/O device(s)  850  may also include one or more output devices such as a display, LED(s), an audio output device (e.g., a speaker), a printer, a haptic output device, and so forth. The I/O device(s)  850  may be physically incorporated in one or more computing devices of the system  800 , or may be external with respect to one or more computing devices of the system  800 . 
     The system  800  may include one or more I/O interfaces  840  to enable components or modules of the system  800  to control, interface with, or otherwise communicate with the I/O device(s)  850 . The I/O interface(s)  840  may enable information to be transferred in or out of the system  800 , or between components of the system  800 , through serial communication, parallel communication, or other types of communication. For example, the I/O interface(s)  840  may comply with a version of the RS-232 standard for serial ports, or with a version of the IEEE 1284 standard for parallel ports. As another example, the I/O interface(s)  840  may be configured to provide a connection over Universal Serial Bus (USB) or Ethernet. In some examples, the I/O interface(s)  840  may be configured to provide a serial connection that is compliant with a version of the IEEE 1394 standard. 
     The I/O interface(s)  840  may also include one or more network interfaces that enable communications between computing devices in the system  800 , or between the system  800  and other network-connected computing systems. The network interface(s) may include one or more network interface controllers (NICs) or other types of transceiver devices configured to send and receive communications over one or more communication networks using any network protocol. 
     Computing devices of the system  800  may communicate with one another, or with other computing devices, using one or more communication networks. Such communication networks may include public networks such as the internet, private networks such as an institutional or personal intranet, or any combination of private and public networks. The communication networks may include any type of wired or wireless network, including but not limited to local area networks (LANs), wide area networks (WANs), wireless WANs (WWANs), wireless LANs (WLANs), mobile communications networks (e.g., 3G, 4G, Edge, etc.), and so forth. In some implementations, the communications between computing devices may be encrypted or otherwise secured. For example, communications may employ one or more public or private cryptographic keys, ciphers, digital certificates, or other credentials supported by a security protocol, such as any version of the Secure Sockets Layer (SSL) or the Transport Layer Security (TLS) protocol. 
     The system  800  may include any number of computing devices of any type. The computing device(s) may include, but are not limited to: a personal computer, a smartphone, a tablet computer, a wearable computer, an implanted computer, a mobile gaming device, an electronic book reader, an automotive computer, a desktop computer, a laptop computer, a notebook computer, a game console, a home entertainment device, a network computer, a server computer, a mainframe computer, a distributed computing device (e.g., a cloud computing device), a microcomputer, a system on a chip (SoC), a system in a package (SiP), and so forth. Although examples herein may describe computing device(s) as physical device(s), implementations are not so limited. In some examples, a computing device may include one or more of a virtual computing environment, a hypervisor, an emulation, or a virtual machine executing on one or more physical computing devices. In some examples, two or more computing devices may include a cluster, cloud, farm, or other grouping of multiple devices that coordinate operations to provide load balancing, failover support, parallel processing capabilities, shared storage resources, shared networking capabilities, or other aspects. 
     While certain embodiments have been described, other embodiment are possible. 
     For example, while the graphical display system  120 ,  220  is depicted as including a semi-transparent film  302  and monitor  304 , other display systems can be utilized. For example, in some implementations, the graphical display system  220  includes electronic glasses device worn by an operator  150  of the vehicle  202  and the images and/or video captured by the camera(s)  234 ,  236  are displayed on the lens of the electronic glasses device, and, as a result, the images and/or video are displayed within the operator&#39;s line of sight. Similarly, in some implementations, the graphical display system  220  includes electronic contact devices worn by an operator  150  of the vehicle  202  and the images and/or video captured by the camera(s)  234 ,  236  are displayed on the lens of the electronic contacts and, as a result, the images and/or video are displayed within the operator&#39;s line of sight. 
     In addition, although examples herein may show and/or describe implementations for particular types of RCVs, implementations are not limited to these examples. The structures and/or methods described herein can apply to any suitable type of RCV, including front-loader, rear-loader, side-loader, roll-off, and so forth, with or without Curotto-Can™, carry can, and so forth. 
     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).