Patent Publication Number: US-11027916-B2

Title: Containers with multiple sensors

Description:
CROSS-REFERENCE 
     This application is a continuation of U.S. patent application Ser. No. 15/850,162, filed Dec. 21, 2017 and titled “CONTAINERS WITH MULTIPLE SENSORS,” which is a continuation of U.S. patent application Ser. No. 15/265,455, filed Sep. 14, 2016 and titled “CONTAINERS WITH MULTIPLE SENSORS,” which is a continuation-in-part of U.S. patent application Ser. No. 14/856,309, filed Sep. 16, 2015 and titled “DUAL SENSING RECEPTACLES,” and claims priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application No. 62/304,076, filed Mar. 4, 2016 and titled “DUAL SENSING RECEPTACLES.” In some aspects, this application relates to U.S. patent application Ser. No. 14/639,862, filed Mar. 5, 2015 titled “DUAL SENSING RECEPTACLES,” which claims the benefit of priority to U.S. Provisional Patent Application No. 61/953,402, filed Mar. 14, 2014, titled “DUAL SENSING RECEPTACLE.” The disclosures of each of the aforementioned applications are considered part of, and are incorporated by reference in, this application in their entireties. 
    
    
     BACKGROUND 
     Field 
     The present disclosure relates to receptacle assemblies, particularly to trashcan assemblies having power-operated lids. 
     Description of the Related Art 
     Receptacles having a lid are used in a variety of different settings. For example, in both residential and commercial settings, trashcans often have lids for preventing the escape of contents or odors from the trashcan. Recently, trashcans with power-operated lids have become commercially available. Such trashcans can include a sensor that can trigger the trashcan lid to open. 
     SUMMARY 
     In sensor-activated receptacles, it can be difficult to calibrate the sensor to trigger lid movement only when the user intends to open the lid. If the sensor is too sensitive, the sensor can trigger lid movement nearly every time a person walks by the receptacle. This accidental lid movement will quickly exhaust the power source and/or wear down components from over use (e.g., the motor). Further, if the sensor is not adaptable, an accidental or unintended lid movement may occur due to a stationary or static object (e.g., a piece of furniture) that triggers the sensor. However, if the sensor is calibrated to be less sensitive, it can be difficult to trigger lid movement. 
     According to some embodiments, a trashcan assembly includes a sensor zone (e.g., above the front portion of the lid) that is the primary location for actuating a lid of the trashcan assembly. For example, a user can waive a hand or hold an item of trash within a specified vertical distance of the sensor and the trashcan assembly will detect the object and automatically open the lid in response. After the lid has been opened, it can remain open for a short time and then close. In some embodiments, the trashcan assembly is configured to keep the lid open for a longer time if movement is sensed above the front portion of the lid, even movement that is further away (within a greater specified vertical distance) than the movement required to initially trip the lid. 
     Certain embodiments have generally vertical and generally horizontal sensing zones. However, detection of objects in the generally horizontal sensing zone alone may not accurately indicate when the lid should be opened. For example, people often walk by a trashcan (e.g., along its front face) without intending to throw trash away, in which case it would be undesirable for the lid to open. In some embodiments, the trashcan assembly is configured to recognize such a situation and/or to not open the lid merely because someone has walked by. For example, the trashcan assembly can be configured such that detecting an object in the horizontal sensing zones, without first, concurrently, or soon afterward detecting an object in the vertical sensing zone ordinarily will not cause the lid to be opened. 
     If someone is walking by the front of the trashcan, the person&#39;s hand or a part of their clothing might pass above the trashcan, which could be detected in the vertical sensing zone, and thus could unintentionally trigger the lid. Some embodiments are configured to avoid such a result by monitoring the horizontal sensing zone to see if someone is walking by (and not stopped), in which case the object detection in the vertical sensing zone can be ignored. 
     After an object has been detected in the vertical sensing zone, the horizontal sensing zone can be monitored to maintain the lid open for a period and/or until a condition is satisfied. For example, the lid can remain open so long as the trashcan assembly senses that someone is standing in near (e.g., in front) of it, even if the person&#39;s hands are not hovering over the lid region. This may happen, for example, if the person is reaching across a counter for more trash or sorting through items (e.g., mail) to determine which items to discard into the trashcan assembly. 
     Certain aspects of the disclosure are directed to a trashcan assembly that includes a body portion and a lid portion. The lid portion can be pivotably coupled with the body portion. The trashcan assembly can include a sensor assembly. The sensor assembly can be coupled to the body portion. The sensor assembly can have a first transmitter, a second transmitter, and/or one or more receivers. A transmission axis of the first transmitter can be generally perpendicular to a transmission axis of the second transmitter. 
     The sensor assembly can include a controller, which can have one or more hardware processors. The controller can be configured to perform various actions. For example, the controller can be configured to instruct the first transmitter to emit a first signal. The controller can be configured to receive, from the one or more receivers, a first indication that an object is detected in a first region. After the first indication is received, the controller can be configured to determine whether a second indication has been received from the one or more receivers in response to emission of a second signal by the second transmitter. The controller can be configured to transmit an instruction to a power-operated drive mechanism, such as in response to receiving at least the first indication. The instruction can cause the power-operated drive mechanism to move the lid portion from a closed position to an open position. 
     Any of the trashcan assembly features or structures disclosed in this specification can be included in any embodiment. In certain embodiments, the controller is configured to receive the second indication from the receiver. The second indication can indicate that the object or another object is detected in the first region or the second region. In some embodiments, the controller is configured to transmit another instruction to the power-operated drive mechanism, such as in response to the second indication not being received after a predetermined period. The another instruction can cause the power operated drive mechanism to move the lid portion from the open position to the closed position. The controller can be configured to instruct, in response to the second indication not being received after the predetermined period, the second transmitter to stop emitting the second signal. In some implementations, the controller is configured to instruct the second transmitter not to emit any signals before the first indication is received. In other implementations, the controller is configured to instruct the second transmitter to emit the second signal before the first indication is received. In some variants, the first transmitter has a transmission axis extending generally vertically and/or the second transmitter has a transmission axis extending generally horizontally. The first region can be a region that extends generally vertically from the upper surface of the sensor assembly. The second region can be a region that extends generally horizontally from the lateral surface of the sensor assembly. The receiver can be configured to transmit the first indication in response to reception of a reflection of the first signal. In some embodiments, in a first state, the first region comprises a ready mode region. In certain embodiments, in a second state, the first region comprises a hyper-mode region. The hyper-mode regions can extend beyond the ready-mode region. The receiver can be configured to transmit the first indication, such as in response to detection of the object in the ready-mode region. In some embodiments, the second region forms a beam angle of at least about 60 degrees. The beam angle can be measured from an outer periphery of the second region to a central axis of the second region. In some embodiments, the sensor assembly can include a third transmitter and a fourth transmitter. The controller can be configured to, in response to receiving the first indication, instruct the second transmitter to emit the second signal, instruct the third transmitter to emit a third signal, and instruct the fourth transmitter to emit a fourth signal. 
     Certain aspects of the disclosure are directed to a computer-implemented method for determining a position of a lid portion of a trashcan assembly. The method can include generating a first command that instructs a first transmitter of a sensor assembly to emit a first signal. The trashcan assembly can include the sensor assembly. The method can include receiving, from one or more receivers of the sensor assembly, a first indication that an object is detected in a first region. The method can include, after the first indication is received, determining whether a second indication has been received from the one or more receivers in response to emission of a second signal by a second transmitter of the sensor assembly. A transmission axis of the first transmitter can be generally vertical and the transmission axis of the second transmitter can be generally horizontal. The method can include generating a second command that instructs a power-operated drive mechanism in response to receiving at least the first indication. The second command can cause the power-operated drive mechanism to move the lid portion from a closed position to an open position. The method can be performed under control of program instructions executed by one or more computing devices. 
     In some embodiments, the method can include receiving the second indication from the receiver. The second indication can indicate whether the object or another object is detected in the first region or the second region. The method can include generating, in response to the second indication indicating that the object or another object is detected in the first region or the second region, a third command that instructs the power-operated drive mechanism to move the lid portion from the open position to the closed position. The method can include generating, in response to the second indication indicating that the object or another object is detected in the first region or the second region, a fourth command that instructs second transmitter to stop emitting the second signal. In some embodiments, the method can include instructing the second transmitter not to emit any signals before the first indication is received. In other embodiments, the method can include instructing the second transmitter to emit the second signal before the first indication is received. In some embodiments, the first region can be a region that extends generally upward from the upper surface of the sensor assembly. In certain embodiments, the second region is a region that extends generally outward from the lateral surface of the sensor assembly. In some embodiments, the first region includes a ready-mode region and a hyper-mode region extending beyond the ready-mode region. The method can include receiving the first indication in response to detection of the object in the ready-mode region. In some embodiments, the second region forms a beam angle of at least about 60 degrees. The beam angle can be measured from an outer periphery of the second region to a central axis of the second region. 
     Certain aspects of the disclosure are directed to a trashcan assembly that includes a body that includes a top end, bottom end, sidewall, and internal cavity. The trashcan assembly can include a lid unit coupled with the top end of the body. The lid unit includes a lid and a motor. The motor is configured to move the lid between an open position and a closed position. The trashcan assembly can include a sensor assembly that includes a first sensor configured to emit first signals generally vertically to produce a first sensing region. The sensor assembly can include a second sensor configured to emit second signals generally horizontally to produce a second sensing region. The sensor assembly can include a receiver configured to receive one or more reflected signals. The reflected signals include the first or second signals reflected off an object in the first or second sensing regions. The sensor assembly can include a lens cover positioned over the first sensor, second sensor, and receiver. The trashcan assembly can include a controller operably connected with the sensor assembly and the motor. The trashcan assembly can be configured such that, in response to the receiver receiving one or more reflected signals, the trashcan assembly moves the lid from the closed position to the open position. The trashcan assembly can be configured to detect the presence of contaminants on the lens covering. 
     In some embodiments, the trashcan assembly can be configured to detect the presence of contaminants on the lens covering by determining whether a proximity measurement to a detected object is less than a threshold distance. The threshold distance can be less than about 0.5 inches. 
     Certain aspects of the disclosure are directed to a trashcan assembly that includes a body portion, a lid portion pivotably coupled with the body portion, a microphone coupled to the bod portion, and a sensor assembly coupled to the body portion. The microphone can be configured to receive an utterance and transform the utterance into an audio signal. 
     The sensor assembly can include a controller, which can have one or more hardware processors and memory. The controller can be configured to perform various actions. For example, the controller can be configured to receive the audio signal from the microphone. The controller can be configured to perform speech recognition on the audio signal to identify an uttered keyword. The controller can be configured to retrieve a stored keyword from the memory. The controller can be configured to compare the stored keyword with the uttered keyword. The controller can be configured to transmit an instruction to a power-operated drive mechanism in response to a determination that the stored keyword matches the uttered keyword. The instruction can cause the power-operated drive mechanism to move the lid portion from a closed position to an open position. 
     Any of the trashcan assembly features or structures disclosed in this specification can be included in any embodiment. In certain embodiments, the sensor assembly further includes a first transmitter, a second transmitter, and a receiver. A transmission axis of the first transmitter can be generally perpendicular to a transmission axis of the second transmitter. In some implementations, the controller can be configured to instruct the first transmitter to emit a first signal, receive, from the receiver, a first indication that an object is not detected in a first region, and transmit a second instruction to the power-operated drive mechanism in response to receiving the first indication. The second instruction can cause the power-operated drive mechanism to move the lid portion from the open position to the closed position. In certain embodiments, the controller can be configured to instruct the first transmitter to emit a first signal, receive, from the receiver, a first indication that an object is detected in a first region, and generate a second instruction that causes the power-operated drive mechanism to move the lid portion from the closed position to the open position. In some embodiments, the controller can be configured to retrieve a second stored keyword from the memory, compare the second stored keyword with the uttered keyword, and transmit a third instruction to the power-operated drive mechanism instead of the second instruction in response to a determination that the second stored keyword matches the uttered keyword. The third instruction can cause the power-operated drive mechanism to move the lid portion from the open position to the closed position. In some implementations, the trashcan assembly further includes a light sensor coupled to the body portion. The light sensor can be configured to detect a first lux level of ambient light at a first time before the first indication is received and a second lux level of ambient light at a second time after the first indication is received. The second lux level can be greater than the first lux level. In certain embodiments, the controller can be configured to not transmit the second instruction to the power-operated drive mechanism in response to a determination that the second lux level is greater than the first lux level by a threshold value. In some embodiments, the controller can be configured to receive the stored keyword from a user device over a wireless network. 
     Certain aspects of the disclosure are directed to a trashcan assembly that includes a body portion, a lid portion pivotably coupled with the body portion, a power-operated drive mechanism coupled with the body portion, and a sensor assembly coupled to the bod portion. The power-operated drive mechanism can include a motor, a shaft driven by the motor, and an adaptor coupled to the shaft and the lid portion. 
     The sensor assembly can include a controller, which can have one or more hardware processors. The controller can be configured to perform various actions. For example, the controller can be configured to detect an object in a first region. The controller can be configured to transmit an instruction to the power-operated drive mechanism in response to the detection of the object, wherein the instruction causes the power-operated drive mechanism to move the lid portion from a closed position to an open position. 
     Any of the trashcan assembly features or structures disclosed in this specification can be included in any embodiment. In certain embodiments, the power-operated drive mechanism can further include a position sensor coupled to the shaft. A rotation of the shaft can cause a change in voltage output by the position sensor. In some implementations, the controller can be further configured to transmit a second instruction to the power-operated drive mechanism that causes the power-operated drive mechanism to stop operation in response to a determination that a voltage output by the position sensor is a threshold value. In some embodiments, the position sensor can include a potentiometer. In certain embodiments, the controller can be further configured to determine a position of the lid portion using the voltage output by the position sensor. In some implementations, the controller can be further configured to determine the position of the lid portion using the voltage output by the position sensor even if the object obstructs movement of the lid portion by the power-operated drive mechanism. 
     Any feature, structure, or step disclosed herein can be replaced with or combined with any other feature, structure, or step disclosed herein, or omitted. Further, for purposes of summarizing the disclosure, certain aspects, advantages, and features of the inventions have been described herein. It is to be understood that not necessarily any or all such advantages are achieved in accordance with any particular embodiment of the inventions disclosed herein. No individual aspects of this disclosure are essential or indispensable. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Various embodiments are depicted in the accompanying drawings for illustrative purposes, and should in no way be interpreted as limiting the scope of the embodiments. Furthermore, various features of different disclosed embodiments can be combined to form additional embodiments, which are part of this disclosure. 
         FIG. 1  illustrates a front perspective view of an embodiment of a receptacle assembly. 
         FIG. 2  illustrates a front elevation view of the receptacle assembly shown in  FIG. 1 . 
         FIG. 3  illustrates a rear perspective view of the receptacle assembly shown in  FIG. 1 . 
         FIG. 4  illustrates a rear elevation view of the receptacle assembly shown in  FIG. 1 . 
         FIG. 5  illustrates a partial-exploded, rear perspective view of the receptacle assembly shown in  FIG. 1 . 
         FIG. 6  illustrates a top plan view of the receptacle shown in  FIG. 1 . 
         FIG. 7A  illustrates a trim ring portion of the receptacle of  FIG. 1 . 
         FIG. 7B  illustrates the trim ring portion of  FIG. 7A  with the outer trim cover removed. 
         FIG. 8A  illustrates a sensor assembly of the receptacle of  FIG. 1 . 
         FIG. 8B  illustrates the sensor assembly of  FIG. 8A  with the outer covering removed. 
         FIG. 9A  illustrates an upward sensing range of the receptacle assembly shown in  FIG. 1 . 
         FIG. 9B  illustrates an outward sensing range of the receptacle assembly shown in  FIG. 1 . 
         FIG. 9C  illustrates a side view of a first example of the sensing ranges shown in  FIGS. 9A and 9B . 
         FIG. 9D  illustrates a side view of a second example of the sensing ranges shown in  FIGS. 9A and 9B . 
         FIG. 10A  illustrates a top perspective view of a lid portion of the receptacle assembly shown in  FIG. 1 . 
         FIG. 10B  illustrates a bottom, front perspective view of the lid portion shown in  FIG. 10A . 
         FIG. 10C  illustrates a bottom, rear perspective view of the lid portion shown in  FIG. 10A . 
         FIG. 11A  illustrates an enlarged, rear perspective view of the receptacle assembly shown in  FIG. 1  with a rear cover removed to show a driving mechanism. 
         FIG. 11B  illustrates an enlarged view of the driving mechanism shown in  FIG. 11A . 
         FIG. 11C  illustrates an enlarged, cross-sectional view of the trim ring portion shown in  FIG. 11B  taken along line  11 C- 11 C. 
         FIG. 12  illustrates an enlarged perspective view of a portion of a drive mechanism of  FIG. 11A . 
         FIG. 13  schematically illustrates a method for adapting sensing thresholds of the receptacle assembly shown in  FIG. 1 . 
         FIG. 14  schematically illustrates a method for controlling the position of the lid portion of the receptacle assembly of  FIG. 1 . 
         FIG. 15  schematically illustrates another method for controlling the position of the lid portion of the receptacle assembly of  FIG. 1 . 
         FIGS. 16A-16C  illustrate an enlarged, rear perspective view of another embodiment of the receptacle assembly shown in  FIG. 1  with a rear cover removed to show a driving mechanism. 
         FIG. 17A  illustrates an enlarged, rear perspective view of the adaptor and potentiometer shown in  FIGS. 16A-16C . 
         FIG. 17B  illustrates an enlarged, rear, and top perspective view of the adaptor and potentiometer shown in  FIGS. 16A-16C . 
         FIG. 17C  illustrates an enlarged, rear, and bottom perspective view of the adaptor and potentiometer shown in  FIGS. 16A-16C . 
         FIG. 17D  illustrates an enlarged, side perspective view of the potentiometer shown in  FIGS. 16A-16C . 
         FIG. 17E  illustrates an enlarged, side perspective view of the adaptor shown in  FIGS. 16A-16C . 
         FIG. 18A  illustrates a rear, top perspective view of the receptacle assembly shown in  FIG. 1 . 
         FIGS. 18B-18C  illustrate a rear perspective view of the receptacle assembly shown in  FIG. 1  with a rear cover removed to show springs. 
         FIG. 19  schematically illustrates another method for controlling the position of the lid portion of the receptacle assembly of  FIG. 1 . 
     
    
    
     DETAILED DESCRIPTION 
     The various embodiments of a system for opening and closing a lid or door of a receptacle, such as a trashcan, or other device, are disclosed in the context of a trashcan. The present disclosure describes certain embodiments in the context of a trashcan due to particular utility in this context. However, the subject matter of the present disclosure can be used in many other contexts as well, including, for example, commercial trashcans, doors, windows, security gates, and other larger doors or lids, as well as doors or lids for smaller devices such as high precision scales, computer drives, etc. The embodiments and/or components thereof can be implemented in powered or manually operated systems. 
     It is also noted that the examples may be described as a process, such as by using a flowchart, a flow diagram, a finite state diagram, a structure diagram, or a block diagram. Although these examples may describe the operations as a sequential process, many of the operations can be performed in parallel, or concurrently, and the process can be repeated. In addition, the order of the operations may be different than is shown or described in such descriptions. A process is terminated when its operations are completed. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc. When a process corresponds to a software function, its termination can correspond to a return of the function to the calling function or the main function. Any step of a process can be performed separately or combined with any other step of any other process. 
     Overview 
     As shown in  FIGS. 1-6 , a trashcan assembly  20  can include a body portion  22  and a lid portion  24  pivotably attached to the body portion  22 . The trashcan assembly  20  can rest on a floor and can be of varying heights and widths depending on, among other things, consumer need, cost, and ease of manufacture. 
     The trashcan assembly  20  can receive a bag liner (not shown), which can be retained at least partially within the body portion  22 . For example, an upper peripheral edge  26  of the body portion  22  can support an upper portion of the bag liner such that the bag liner is suspended and/or restrained within the body portion  22 . In some embodiments, the upper edge  26  of the body portion  22  can be rolled, include an annular lip, or otherwise include features that have a generally rounded cross-section and/or extend outwardly from a generally vertical wall of the body portion  22  (see  FIG. 5 ). The outward-extending, upper peripheral edge  26  can support the bag liner and prevent the bag liner from tearing near an upper portion of the bag liner. Although not shown, in some embodiments, the trashcan assembly  20  can include a liner support member supported by the body portion  22 , which can support the bag liner. 
       FIGS. 1-6  illustrate the body portion  22  having a generally semi-circular configuration with a rear wall  28  and a curved, front wall  30 . However, other configurations can also be used, for example, a rectangular configuration. The body portion  22  can be made from plastic, steel, stainless steel, aluminum or any other material. 
     The pivotal connection between the body portion  22  and the lid portion  24  can be any type of connection allowing for pivotal movement, such as, hinge elements, pins, or rods. For example, as shown in  FIG. 11A , the lid portion  24  can pivot about pivot pins  50 ,  52  extending laterally through a backside enclosure  56 . In some embodiments, biasing members  126 , such as one or more torsion springs, can be positioned around the pins  50 ,  52 . The biasing members  126  can provide a biasing force to assist in opening and/or closing the lid portion  24 . This can reduce the amount of power consumed by a motor  78  when moving the lid portion  24  between the open and closed positions and/or can allow for the use a smaller motor (e.g., in dimensional size and/or in power output). 
     The trashcan assembly  20  can include a base portion  44 . The base portion  44  can have a generally annular and curved skirt upper portion and a generally flat lower portion for resting on a surface, such as a kitchen floor. In some implementations, the base portion  44  can include plastic, metal (e.g., steel, stainless steel, aluminum, etc.) or any other material. In some implementations, the base portion  44  and the body portion  22  can be constructed from different materials. For example, the body portion  22  can be constructed from metal (e.g., stainless steel), and the base portion  44  can be constructed from a plastic material. 
     In some embodiments, as shown in  FIG. 5 , the base portion  44  can be separately formed from the body portion  22 . The base portion  44  can be connected with or attached to the body portion  22  using adhesive, welding, and/or connection components  46 , such as hooks and/or fasteners (e.g., screws). For example, the base portion  44  can include hooked tabs that can connect with a lower edge (e.g., a rolled edge) of the body portion  22 . The hooked tabs can engage the lower edge of the body portion  22  by a snap-fit connection. 
     As shown in  FIG. 5 , the base portion  44  can include projections  40  that are open or vented to the ambient environment (e.g., thorough the generally flat lower portion of the base portion  44 ). As illustrated, certain embodiments of the base portion  44  include a generally centrally located passage  41  extending through the base portion  44 . 
     In some embodiments, the trashcan assembly  20  can include a liner insert  100  positioned within the body portion  22  (see  FIG. 5 ). The liner insert  100  can be secured to the base portion  44 . For example, the liner insert  100  can have support members  48  that are joined with the base portion  44  (e.g., with fasteners, welding, etc.). The support members  48  can support and/or elevate the liner insert  100  above away from the base portion  44 . 
     The liner insert  100  can generally support and/or cradle a lower portion of a liner disposed in the trashcan assembly  20  to protect a bag liner from rupture or damage and retain spills. For instance, the liner insert  100  can have a generally smooth surface to reduce the likelihood of the bag liner being torn or punctured by contact with the liner insert  100 . As illustrated, the liner insert  100  can be generally concave or bowl-shaped. 
     The liner insert  100  can reduce the chance of damage to the bag liner even in trashcan assemblies  20  that do not utilize a generally rigid liner that extends along a majority of or all of the height of the body portion  22 . In some embodiments, the height of the liner insert  100  can be substantially less than the height of the body portion  22 , positioning the uppermost surface of the liner insert  100  substantially closer to the bottom of the trashcan assembly  20  than to the middle and/or top of the trashcan assembly  20 . In some embodiments, the height of the liner insert  100  can be less than or generally equal to about one-fourth of the height of the body portion  22 . In certain embodiments, the height of the liner insert  100  can be less than or generally equal to about one-eighth of the height of the body portion  22 . 
     The liner insert  100  can form a seal (e.g., generally liquid resistant) with a lower portion of the body portion  22 . In some embodiments, the liner insert  100  can include openings  42  that are configured to correspond to, or mate with, the projections  40  located on the interior bottom surface of the base portion  44 , thereby placing the openings  42  and the projections  40  in fluid communication. By aligning the openings  42  of the liner insert  100  and the projections  40  of the base portion  44 , the openings  42  can allow ambient air to pass into and out of the interior of the trashcan assembly. The openings  42  can inhibit or prevent the occurrence a negative pressure region (e.g., in comparison to ambient) inside the trashcan assembly  20  when a user removes a bag liner from the trashcan assembly  20 . Further, in certain variants, when a user inserts refuse or other materials into the bag liner in the trashcan assembly  20 , air within the trashcan assembly  20  can exit via the openings  42  and the projections  40 . The openings  42  can inhibit the occurrence of a positive pressure region (e.g., in comparison to ambient) inside the trashcan assembly  20  and allowing the bag liner to freely expand. 
     In some embodiments, the trashcan assembly  20  can include a backside enclosure  56  that can house a plurality of bag liners (not shown). A rear cover  54  can encase an open portion of the backside enclosure  56 . The rear cover  54  can include a rear lid  49  that provides access to the interior of the backside enclosure  56 , so the user can replenish the plurality of bag liners. An interior surface of the backside enclosure  56  can include an opening  57  that provides access to the plurality of bag liners from the interior of the body portion  22  (see  FIG. 11A ). The rear wall  28  of the body portion  22  can include an opening  55  in communication with the backside enclosure opening  57 . The openings  55 ,  57  can be positioned such that the user can reach into the interior of the body portion  22  and take a bag liner from the backside enclosure  56 . Additional examples and details of bag liner dispensers are included in U.S. Provisional Application No. 61/949,868, filed Mar. 7, 2014, the contents of which are incorporated herein by reference in their entirety. As with all embodiments in this specification, any structure, feature, material, step, and/or process illustrated or described in such application can be used in addition to or instead of any structure, feature, material, step, and/or process illustrated or described in this specification. 
     As shown in  FIG. 11A , the backside enclosure  56  can house a power source  66  and a power-operated driving mechanism  58  to drive lid movement (discussed in greater detail below). In some embodiments, the backside enclosure  56  can include a port  43  (e.g., a USB port, mini-USB port, or otherwise) for recharging the power source  66  (see  FIG. 3 ). In some embodiments, the backside enclosure  56  can include a power button  51  for turning on and off power to one or more features of the trashcan assembly  20  (see  FIG. 3 ). 
     A controller  70  (which is stored in the backside enclosure  56  in some embodiments) can control one or more features of the trashcan assembly  20 , e.g., the power-operated driving mechanism. The controller  70  can include one or a plurality of circuit boards (PCBs), which can provide hard-wired feedback control circuits, at least one processor and memory devices for storing and performing control routines, or any other type of controller. In some embodiments, the memory included in controller  70  may be a computer-readable media and may store one or more of any of the modules of software and/or hardware that are described and/or illustrated in this specification. The module(s) may store data values defining executable instructions. The one or more processors of controller  70  may be in electrical communication with the memory, and may be configured by executable instructions included in the memory to perform functions, or a portion thereof, of the trashcan assembly  20 . For example, in some aspects, the memory may be configured to store instructions and algorithms that cause the processor to send a command to trigger at least one of the several modes of operation (e.g., ready-mode, hyper-mode, calibration-mode, etc.) of the trashcan assembly  20 , as described herein in reference to  FIGS. 9A-9B and 13 . As another example, in some aspects, the memory may be configured to store instructions and algorithms that cause the processor to send a command to trigger the motor  78  to move the lid portion  24  between the open and closed positions based at least in part on received voice commands, such as in the example described herein in  FIG. 19 . 
     The backside enclosure  56  can have a generally low profile configuration. For example, the back-side enclosure  56  can extend rearward from the rear wall  28  a distance of less than or equal to about the distance from the rear wall  28  to the furthest rearward extent of the lid portion  24  and/or the furthest rearward extent of a trim ring portion  38 , such as less than or equal to about 1 inch, or less than or equal to about ⅕th of the distance between the outside surfaces of the rear wall  28  and the front-most portion of the front wall  30 . 
     Trim Ring Portion 
     In some embodiments, the trashcan assembly  20  can include a trim ring portion  38  that can secure or retain an upper portion of the bag liner between the trim ring portion  38  and the upper edge  26  of the body portion  22 . The trim ring portion  38  can surround at least a portion of the body portion  22  and/or be positioned at least partially above the body portion  22 . As illustrated, a diameter of the trim ring portion  38  can be greater than a diameter of the upper portion of the body portion  22 , such that the trim ring portion  38  can receive, nest with, and/or or removably lock onto the upper edge  26  of the body portion  22 , e.g., by a friction fit. When a bag liner is placed in the body portion  22  and the upper portion of the bag liner is positioned over the rolled edge or annular lip of the upper edge  26 , the trim ring portion  38  can be positioned (e.g., rotated into position) such that the bag liner is disposed between the trim ring portion  38  and the body portion  22 . The trim ring portion  38  can secure a portion of the bag liner within the body portion  22  and prevent the bag liner from falling into the body portion  22 . 
     The trim ring portion  38  can include a rear-projecting portion  39  that can be secured to the back-side enclosure  56  and/or body portion  22 , such as by fasteners  29  (e.g., screws). Some embodiments of the trim ring portion  38  can rotate with respect to the body portion  22  and/or the lid portion  24 . The trim ring portion  38  can be made of various materials, such as plastic or metal. The trim ring portion  38  and the body portion  22  can be made from the same or different materials. For example, the trim ring portion  38  and the body portion  22  can be constructed from a plastic material. Some embodiments of the trim ring portion  38  can engage and/or overlap the upper edge  26  of the trashcan assembly  20 . 
     The trim ring portion  38  can be pivotably coupled to the trashcan assembly  20 . For example, the lid portion  24  and the trim ring portion  38  can pivot generally along the same pivot axis. In some embodiments, the trim ring portion  38  includes a retaining mechanism to maintain the trim ring portion  38  in an open position while the bag liner is being replaced or the trashcan interior is cleaned. As shown in  FIG. 11C , the trim ring portion  38  can include a detent housing  160  positioned within the rear projecting portion  39 . The detent housing  160  can be integrally formed with or secured to the outer and/or inner trim ring (if present)  38   a ,  38   b  (see  FIGS. 7A and 7B ). The detent housing  160  can include a first detent structure  162   a  configured to interface (e.g., engage) with a second detent structure disposed on the backside enclosure  56 . As the trim ring portion  38  moves to an open position, the first detent structure  162   a  can interface with the second detent structure  162   b  to maintain the trim ring portion  38  in an open position. In some embodiments, the first detent structure  162   a  can be a tooth, and the second detent structure  162   b  can be a divot, groove, opening, or likewise. 
     Lid Sensor Assembly 
     The trashcan assembly  20  can include a sensor assembly  102  for detecting user movement (e.g., by detecting a reflected or emitted signal or characteristic, such as light, thermal, conductivity, magnetism, or otherwise). The sensor assembly  102  can communicate with the controller  70  to control lid movement. 
     The sensor assembly  102  can be disposed on a generally outer portion of the trashcan assembly  20 . In some embodiments, the sensor assembly  102  can be positioned at least partially between the outer trim ring  38   a  and the inner trim ring  38   b  (see  FIGS. 7A and 7B ) with a portion of the sensor assembly  102  exposed to the trashcan exterior. For example, as shown in  FIG. 7A , the sensor assembly  102  can be positioned such that at least a portion of an upper surface  102   a  and/or a front surface  102   b  of the sensor assembly  102  is exposed to the trashcan exterior. The sensor assembly  102  can be positioned near a central and/or upper portion of a front surface of the trim ring portion  38 , such that the exposed surfaces of the sensor assembly  102  can be substantially flush with, and/or be shaped to generally match or correspond to the shape of, a top surface and/or an outer front surface of the trim ring portion  38 . 
       FIGS. 8A and 8B  illustrate enlarged views of the sensor assembly  102 . The sensor assembly  102  can include a support structure  110  for supporting one or more transmitters and receivers. An outer covering  106  can be secured to the support structure  110  to cover the one or more transmitters and receivers. The outer covering  106  can include one or more connection features  108  for securing the sensor assembly  102  to the trim ring portion  38  (e.g., using screws, hooks, or other fasteners). 
     The outer covering  106  can include a lens covering  104  that can be transparent or translucent to permit transmission and/or receipt of light signals. For example, the lens covering  104  can be made of glass or plastics, such as polycarbonate, Makrolon®, etc. In some embodiments, the lens covering  104  can be opaque to visible light and transparent or translucent to UV and/or infrared light to reduce erroneous signals from visible light and/or to generally obscure the transmitter(s) and/or receiver(s) from view. The lens covering  104  can be substantially flush with a top surface and an outer front surface of the trim ring portion  38 . As shown in  FIG. 1 , the lens covering  104  of the sensor assembly  102  can be aligned with the trim ring portion  38 . The front surface of the lens covering  104  can be aligned with a front surface of the trim ring portion  38 , and the top surface of the lens covering  104  can curve over a top edge of the trim ring portion  38  so that the top surface of the lens covering  104  is substantially flush with a rolled edge of the trim ring portion  38 . In some embodiments, a width of the lens covering  104  can be at least two times a height of the lens covering  104 , e.g., the width can be about 30 mm and the height can be about 7 mm. In some embodiments, the height of the lens covering  104  can be at least about two times a depth of the lens covering, e.g., the height can be about 15 mm and the depth can be about 7 mm. 
     As shown in  FIG. 8B , the sensor assembly  102  can include one or more transmitters  112   a - d  (e.g., one, two, three, four, five or more) and one or more receivers  114  (e.g., one, two, three, four, five or more). The transmitters  112   a - d  can emit electromagnetic energy, such as infrared light. The beams of light emitting from the transmitters  112   a - d  can define one or more overlapping or separate sensing regions  130 ,  132 . In some embodiments, the outer periphery of the sensing regions  130 ,  132  can be identified by the regions in which an object (e.g., a person&#39;s body) will not trigger lid movement or where radiant intensity of emitted light falls below 50% of the maximum value. The receiver  114  can receive electromagnetic energy, such as infrared light, and detect reflections from an object within the beams of light emitted from the transmitters  112   a - d . If the receiver  114  detects a signal above a certain sensing threshold, the sensor assembly  102  can send a signal to the controller  70  to activate a function of the trashcan assembly  20 . In certain variants, the transmitters can emit other types of energy, such as sound waves, radio waves, or any other signals. The transmitters and receivers can be integrated into the same sensor or configured as separate components. 
     The transmitters  112   a - d  can transmit light in more than one direction, e.g., a first subset of transmitters can transmit light in a first direction, and a second subset of transmitters can transmit light in a second direction. As shown in  FIG. 8B , the first subset of transmitters  112   a - c  can include a greater number of transmitters than the second subset of transmitters  112   b . For example, the first subset of transmitters can include three transmitters  112   a - c  and the second subset of transmitters can include a single transmitter  112   d . However, any number of transmitters can be included in each subset of transmitters and/or additional subsets of transmitters can transmit light in additional directions. In some embodiments, the first subset of transmitters  112   a - c  and the second subset of transmitters  112   d  can be mounted on different PCB boards. However, in other embodiments, all of the transmitters  112   a - b  can be mounted on a single PCB board having a structure to permit the second subset of transmitters  112   d  to be directed at an angle different than the first subset of transmitters  112   a - c , e.g., in the configuration shown in  FIG. 8B . 
     The first subset of transmitters  112   a - c  can be positioned on or in the support structure  110 , such that a transmitting axis of each of one or more of the first subset of transmitters  112   a - c  is generally perpendicular to a front surface  118  of the support structure  110 . In some embodiments, the front surface  118  can be positioned at an angle relative to a longitudinal axis of the trashcan assembly  20 , such as between about −10 degrees and about 45 degrees (e.g., at least about: −10 degrees, −5 degrees, 0 degrees, 5 degrees, 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, values in between, or otherwise). For example, as shown in  FIG. 9C , the first subset of transmitters  112   a - c  can emit light at an angle between about 0 degrees and 60 degrees from a top surface of the trashcan assembly, such as about 45 degrees. As another example, as shown in  FIG. 9D , the first subset of transmitters  112   a - c  can emit light at an angle between about −10 degrees and 10 degrees from a top surface of the trashcan assembly, such as about 0 degrees. As shown in  FIG. 8B , the second subset of transmitters  112   d  can be positioned on or in a platform  120  extending from the support structure  110 . The platform  120  can be positioned such that a transmitting axis of each of the second subset of transmitters  112   d  is positioned at an angle relative to the front surface  118  of the support structure  110 , such as between about 45 degrees and about 100 degrees (e.g., about 45 degrees, 60 degrees, 75 degrees, 80 degrees, 85 degrees, 90 degrees, 95 degrees, 100 degrees, values in between, or otherwise). In some embodiments, an upper surface of the platform  120  can be generally perpendicular to the longitudinal axis of the trashcan assembly  20 . As shown in  FIGS. 9C and 9D , the second subset of transmitters  112   d  can be positioned or otherwise configured to emit light along an axis substantially parallel to a longitudinal axis of the trashcan assembly  20 . 
     As shown in  FIG. 8B , the second subset of transmitters  112   d  and the receiver  114  can be positioned on opposite sides of the first subset of transmitters  112   a - c . However, in certain variants, the second subset of transmitters  112   d  and the receiver  114  can be positioned on the same side of the first subset of transmitters  112   a - c  or interspersed between transmitters  112   a - c  in the first subset. 
     The support structure  110  can include a projecting portion  116  extending across at least a portion of a length of the first subset of transmitters  112   a - c . An inner wall  116   a  of the projecting portion  116  can be generally perpendicular to the front surface  118  of the support structure  110 . As shown in  FIG. 8B , the projecting portion  116  can extend from an upper portion of the support structure  110  and extend along the length of the first subset of transmitters  112   a - c . The inner wall  116   a  of the projecting portion  116  can block portions of emissions from the first subset of transmitters  112   a - c  that may accidentally trigger lid movement (e.g., when transmitted light reaches the receiver  114  without first reflecting off a user). In some embodiments, the second subset of transmitters  112   d  can be spaced away from the projecting portion  116 , such that the projecting portion  116  does not block emissions from the second subset of transmitters  112   b.    
     The receiver  114  can be recessed from the front surface  118  of the support structure. The recessed portion can include an upper wall  122   a  positioned at an angle relative to the longitudinal axis of the trashcan assembly  20 , such as between about 0 degrees and about 45 degrees (e.g., at least about: 15 degrees, 20 degrees, 25 degrees, 30 degrees, values in between, or otherwise). The recessed portion can also include sidewalls  122   b ,  122   c . The sidewall  122   b  can separate the transmitters  122   a - d  from the receiver  114  to reduce the likelihood that emitted light reaches the light receiver without first reflecting off a separate surface (e.g., a user). 
     The first subset of transmitters  112   a - c  can transmit light in a first direction and the second subset of transmitters  112   d  can transmit light in a second direction. As shown in  FIG. 8B , each transmitter in each subset of transmitters can transmit light in substantially the same direction. However, in other embodiments, one or more transmitters in each subset can transmit light in different directions. 
     As shown in  FIGS. 9A and 9B , the transmitters  112   a - d  can create a first sensing region  130  extending in a first direction and a second sensing region  132  extending in a second direction. As illustrated, the sensing regions can be generally conical in shape. The conical shapes can extend along respective centerlines. In some embodiments, the first direction (e.g., along the centerline of the sensing region  130 ) is between about 30 degrees and about 90 degrees from the second direction, such as between about 30 degrees and about 45 degrees, between about 45 degrees and about 60 degrees, between about 60 degrees and about 75 degrees, or between about 75 degrees and about 90 degrees. The first sensing region  130  can extend generally upward, e.g., within about 15 degrees from the longitudinal axis of the trashcan assembly  20 . This can enable the trashcan assembly  20  to detect user movement above the trashcan assembly  20  (e.g., from a hand waving over the lid portion  24 ). As mentioned above, the second sensing region  132  can extend in extending in a second direction (e.g., along the centerline of the sensing region  130 ). The second direction can be generally outward from the trashcan assembly  20 . For example, the second direction can extend between about 0 degrees and about 60 degrees from a top surface of the trashcan assembly (e.g., about 45 degrees). This can enable the trashcan assembly  20  to detect user movement in front of the trashcan assembly  20  (e.g., from a user standing in front of the trashcan assembly  20 ). In some embodiments, the centerline of the first sensing region  130  and the centerline of the second sensing region  132  are approximately perpendicular to each other, such as one centerline being substantially vertical and the other centerline being substantially horizontal. 
     As explained above, the first subset of transmitters  112   a - c  can include a greater number of transmitters than the second subset of transmitters  112   d . There can be a greater number of transmitters emitting light in front of the trashcan assembly  20  (e.g., between about −10 degrees and about 10 degrees from a top surface of the trashcan assembly and/or from a line perpendicular to the longitudinal axis of the trashcan) than transmitters emitting light above the trashcan assembly  20  (e.g., along an axis substantially parallel to a longitudinal axis of the trashcan assembly  20 ). As shown in  FIG. 9C , the first subset of transmitters  112   a - c  can achieve a sensing region  132  having a greater depth (i.e., larger beam angle) than the sensing region  130 . In certain variants, such as is illustrated in  FIG. 9D , the sensing region  132  has a depth (i.e., beam angle) that is greater than or equal to the depth of the sensing region  130 . In some embodiments, the each of the second subset of transmitters  112   d  can emit a light having a greater half angle than each of the first subset of transmitters  112   a - c . The half angle being measured from the central transmission axis to a region at which an object can no longer be detected or where radiant intensity falls below 50% of the maximum value. For example, the half angle of transmitter  112   d  can be about 18 degrees and the half angle of each of the transmitters  112   a - c  can be about ten degrees. 
     In some embodiments, the sensing regions  130 ,  132  can be adjusted by modifying one or more features of the lens covering  104 . For example, the sensing regions  130 ,  132  can change depending on the angle of the lens cover  104  relative to the axis of light transmission from the transmitters  112   a - d . As another example, the sensing regions  130 ,  132  can change depending on the cross-sectional shape of the lens covering  104  (e.g., rectangular or triangular). 
     In some embodiments, sensor assembly  102  may only require enough power to generate a low power beam of light, which may or may not be visible to the human eye. In some embodiments, the sensor assembly  102  can operate in a pulsating mode. The transmitters  112   a - d  can be powered on and off in a cycle for short bursts lasting for any desired period of time (e.g., less than or equal to about 0.01 second, less than or equal to about 0.1 second, or less than or equal to about 1 second) at any desired frequency (e.g., once per half second, once per second, once per ten seconds). Cycling can greatly reduce the power demand for powering the sensor assembly  102 . In operation, cycling does not degrade performance in some embodiments because the user generally remains in the path of the light beam long enough for a detection signal to be generated. 
     In some embodiments, the trashcan assembly  20  can have one or more modes of operation, for example, a ready-mode and a hyper-mode. In some embodiments, the trashcan assembly  20  can include an algorithm that determines whether and when to trigger the trashcan assembly  20  to operate in ready-mode, hyper-mode, or any other mode. For example, the algorithm can be executed by a software module of the controller  70  (e.g., a lid position controller) and can send a command to open the lid portion  24 . In some embodiments, the command can be sent if (e.g., in response to) an object being detected within the ready-mode sensing regions  130   b ,  132   b . In certain implementations, the controller  70  can send a command to open the lid, and/or to keep the lid open, if an object is detected and/or remains (e.g., for a pre-determined period of time) within the hyper-mode sensing regions  130   a ,  132   a.    
     The algorithm can include various scenarios under which the trashcan assembly  20  provides an action, such as the lid portion  24  opening and closing, triggering the ready-mode and hyper-mode, or other actions. For example, broadly speaking, the algorithm can include evaluating one or more received signals and, in response, determining whether to provide an action. In some embodiments, the algorithm determines whether to provide an action in response to receipt of a signal from at least two sensors, such as at least two transmitters (e.g., the transmitter  112   d  and at least one of transmitters  112   a - c ). 
     In some scenarios, in the ready-mode, the lid portion  24  can open when an object is detected within at least one of the ready-mode sensing regions  130   b  (e.g., generally vertical region) and/or  132   b  (e.g., generally horizontal region). For example, in some embodiments, the lid portion  24  is opened in response to an object being detected in the sensing region  130   b . In certain implementations, the trashcan assembly  20  is configured to open the lid portion  24  only in response to an object being detected in the sensing region  130  and/or does not open the lid portion  24  in response to an object being detected in the sensing region  132 . 
     At least one of the transmitters  112   a - d  can operate when the trashcan assembly  20  is in the ready mode. In some embodiments, in the ready mode, the generally vertical transmitter  112   d  operates (e.g., emits a signal) and the generally horizontal transmitters  112   a - c  are deactivated (e.g., do not emit a signal). This can reduce power usage and/or the chance of unintentional opening of the lid portion  24 , such as in response to a person walking by the front of the trashcan assembly  20 . In some variants, the generally horizontal sensing field  132  is not produced when the trashcan assembly  20  is in the ready mode, until the vertical transmitter  112   d  has been emitting a signal for a period of time, but before an object is detected in the sensing region  130   b , and/or until an object is detected in the sensing region  130   b . In other variants, in the ready mode, both the generally vertical transmitter  112   d  and the generally horizontal transmitters  112   a - c  are activated. In some embodiments, in the ready mode, the generally vertical sensing region  130   b  can extend across a range  130   c , for example, between about 0 inches and about 6 inches from an upper surface  102   a  of the sensor assembly  102 . 
     In certain implementations, the trashcan assembly  20  produces both the first and second ready-mode regions  130   b ,  132   b . As shown in  FIGS. 9A and 9B , the upward-directed, ready-mode sensing region  130   b  can extend across a greater distance than the outward-directed (e.g., in front of the trashcan assembly, such as less than about 10 degrees from horizontal), ready-mode sensing region  132   b . For example, the ready-mode sensing region  130   b  can extend across a range  130   c , for example, between about 0 inches and about 6 inches from an upper surface  102   a  of the sensor assembly  102 , and the ready-mode sensing region  132   b  can extend across a range  132   c , for example, between about 0 inches and about 3 inches from a front surface  102   b  of the sensor assembly  102 . An outer-most portion of the ready-mode sensing region  132  can form a beam angle at between about 30 degrees and about 90 degrees, such as about 60 degrees. The beam angle being measured from the central transmission axis to a region at which an object can no longer be detected or where radiant intensity falls below 50% of the maximum value. As mentioned above, in some embodiments, the sensing region  132  is not formed when the trashcan assembly  20  is in the ready mode. For example, some embodiments do not include the ready-mode sensing region  132   b.    
     Once the lid portion  24  opens, the lid portion  24  can remain open so long as the sensor assembly  102  detects an object in at least one of the sensing regions  130 ,  132 . In some implementations, when an object is no longer detected in at least one of the sensing regions  130 ,  132 , the lid portion  24  is moved to the closed position. Alternatively, lid portion  24  can remain open for a pre-determined period of time. For example, opening the lid portion  24  can initialize a timer. If the sensor assembly  102  does not detect an object before the timer runs out, then the lid portion  24  returns to a closed position. If the sensor assembly  102  detects an object before the timer runs out, then the controller  70  either reinitializes the timer either immediately or after the timer runs out. In some embodiments, the trashcan assembly  20  can operate in a stay-open mode. If an object or movement of an object is continuously detected in the ready-mode region or hyper-mode region (if activated), then the lid portion  102  can remain open for an extended period of time. This can be useful if a large amount of refuse is being thrown in the trashcan assembly  20  or to clean the interior of the trashcan assembly  20 . 
     Once ready-mode is activated, and/or the lid is open, and/or the sensor detects further movement in the ready-mode regions  130   b ,  132   b , and/or the sensor detects continued presence of an object in the ready-mode regions  130   b ,  132   b , for a pre-determined time period, then the sensor assembly  102  can enter a hyper-mode (e.g., during which the sensor assembly  102  has increased sensitivity to movement within a zone, or has a larger or wider sensitivity zone, or has some other increased sensitivity signal detection) for a pre-determined period of time. When the trashcan assembly  20  is in hyper-mode, the lid portion  24  can remain open so long as an object is detected within the ready-mode regions  130   b ,  132   b  or hyper-mode regions  130   a ,  132   a . In some implementations, when an object is no longer detected in at least one of the sensing regions  130 ,  132 , the lid portion  24  is moved to the closed position and/or the trashcan assembly  20  reverts to the ready-mode. 
     As shown in  FIGS. 9A and 9B , the upward-directed, hyper-mode sensing region  130   a  can extend across a range between about 0 inches and about six inches from the ready-mode sensing region  130   b , e.g., up to about 12 inches from the upper surface  102   a  of the sensor assembly  102 . A width of the hyper-mode sensing region  130   a  can extend across at least a majority of or substantially the entire width of the trashcan assembly  20  (i.e., measured from a sidewall to the opposite sidewall of the trashcan assembly  20 ). For example, the width of the hyper-mode sensing region  130   a  can extend at least about 75% of the width of the trashcan assembly  20  and/or less than or equal to about the width of the trashcan assembly  20 . The outward-directed, hyper-mode sensing region  132   a  can extend across a range  132   d , for example, between about 0 inches and about nine inches from the ready-mode sensing region  132   b , e.g., up to about 12 inches from the front surface  102   b  of the sensor assembly  102 . In some embodiments, the extent of the ready-mode and hyper-mode regions  132   c ,  132   d  is approximately equal. A width  132   e  of the hyper-mode sensing region  132   a  can extend across at least a majority of or substantially the entire width of the trashcan assembly  20 . For example, the width of the hyper-mode sensing region  132   a  can be at least about 75% of the width of the trashcan assembly  20  and/or less than or equal to about the width of the trashcan assembly  20 . For example, width  132   e  can be between approximately 0 and approximately 7 inches. In some embodiments, the range  130   d  of the upward-directed hyper-mode region  130   a  can be about the same as the range  132   d  of the outward-directed, hyper-mode region  132   a . In some embodiments, the angle of the sensing region  132  can decrease across the hyper-mode sensing region  132   a . For example, an inner portion of the hyper-mode sensing region  132   a  can form a beam angle at between about 30 degrees and about 90 degrees, such as about 60 degrees. A mid-portion of the hyper-mode sensing region  132   a  can form a beam angle β between about 15 degrees and about 75 degrees, such as about 47 degrees. An outer-portion of the hyper-mode sensing region  132   a  can form a beam angle γ between about 0 degrees and about 60 degrees, such as about 30 degrees. 
     In some embodiments, the transmitter  112   d  is the primary transmitter. For example, in some implementations, in the ready-mode the transmitter  112   d  operates (e.g., emits a signal) and the transmitters  112   a - c  do not operate. As shown in  FIGS. 9C and 9D , in some implementations, the transmitter  112   d  can emit a signal along an axis that is substantially parallel (e.g., between about −10 degrees and about 10 degrees from being perfectly parallel) to a longitudinal axis of the trashcan assembly  20 . The ready-mode sensing region  130   b  can extend across a range  130   c , for example, between about 0 inches and about ten inches from an upper surface  102   a  of the sensor assembly  102 . In those embodiments in which the transmitters  112   a - c  are not operating in the ready-mode, the range of the ready-mode sensing region  132   b  is about 0 inches. The transmitter  112   d  can operate at a frequency of about 8 Hz in the ready-mode. 
     In certain scenarios, in the ready-mode, the trashcan assembly  20  determines whether a first object-detection-event has occurred, such as an object being detected in the ready-mode sensing region  130   b . In some embodiments, in response to detection of the first object-detection-event, the lid portion  24  is opened. In some variants, in response to the first object-detection-event, the trashcan assembly  20  can enter the hyper-mode. In some embodiments, the lid portion  24  is opened when (e.g., before, concurrent with, or immediately following) the trashcan assembly  20  enters the hyper-mode. In certain variants, unlike some scenarios described above, the lid portion  24  is not opened when the trashcan assembly  20  enters the hyper-mode. Rather, as will be described in more detail in the following paragraphs, in some embodiments, satisfaction of a further condition (e.g., a further object detection) is needed for the lid portion  24  to be opened. In some implementations, a further condition (e.g., a further object detection) is needed for the lid portion  24  to be kept open. 
     In some embodiments, in the hyper-mode, the transmitter  112   d  continues to operate and the transmitters  112   a - c  begin to operate as well. In embodiments in which the transmitters  112   a - c  are active before the first object-detection-event (e.g., the transmitters  112   d  and  112   a - c  become active concurrently, the transmitter  112   d  becomes active before the transmitters  112   a - c , the transmitters  112   a - c  become active before the transmitter  112   d , etc.), in the hyper-mode, the transmitter  112   d  and the transmitters  112   a - c  continue to operate. In some variants, the transmitter  112   d  can stop operating, such as until the receiver  114  detects an object in the sensing region  132  and/or until the sensor assembly  102  reverts to the ready-mode. As shown in  FIG. 9D , the transmitters  112   a - c  can emit a signal between about −10 degrees and about 10 degrees from a top surface of the trashcan assembly  20  and/or along a line generally perpendicular to the longitudinal axis of the trashcan assembly  20 . In certain embodiments, each transmitter  112   a - d  emits a signal about every quarter of a second (e.g., each transmitter  112   a - d  operates at a frequency of about 4 Hz). The transmitters  112   a - d  can operate sequentially such that no two transmitters  112   a - d  emit a signal at the same time. The sequenced transmitters  112   a - d  can operate in any order. 
     In various embodiments, in the hyper-mode the extent of the sensing range can increase compared to the ready mode. For example, as shown in  FIGS. 9A and 9B , in hyper-mode the upward-directed extent of the sensing region can increase, such as between about 0 inches and about five inches beyond the upper extent of the ready-mode sensing region  130   b . In some embodiments, the hyper-mode sensing region  130   a  extends vertically to about 15 inches from the upper surface  102   a  of the sensor assembly  102 . A width of the hyper-mode sensing region  130   a  can extend across at least a majority of or substantially the entire width of the trashcan assembly  20  (e.g., measured from a sidewall to the opposite sidewall of the trashcan assembly  20 ). For example, the width of the hyper-mode sensing region  130   a  can extend at least about 75% of the width of the trashcan assembly  20  and/or less than or equal to about the width of the trashcan assembly  20 . In some embodiments, the sensor assembly  102  changes its sensitivity in the hyper-mode, such as being more sensitive in the hyper-mode than in the ready-mode. 
     Various techniques can be employed to increase the extent of the sensing range and/or to increase the sensitivity of the sensor assembly  102 . For example, in some embodiments, the amount of power supplied to the transmitters  112   a - d  and/or the power of the emitted signal is increased. In certain embodiments, the sensitivity of the receiver  114  is increased in the hyper-mode. For example, the minimum signal level (also called the threshold) that is determined to be a detected object can be reduced. In some implementations, the detected signal is filtered (to reduce noise which could lead to erroneous object detections) and the amount of filtering is decreased in the hyper-mode. This may result in certain object detections that would be filtered-out in the ready-mode not being filtered-out in the hyper-mode. 
     In the hyper-mode, the outward-directed (e.g., generally horizontal) sensing region  132  can be produced. As shown in  FIG. 9B , the sensing region  132  can extend across a range  132   d . For example, sensing region  132  can extend between about 0 inches and about 12 inches from the front surface  102   b  of the sensor assembly  102 . A width  132   e  of the hyper-mode sensing region  132  can extend across at least a majority of or substantially the entire width of the trashcan assembly  20 . For example, the width of the sensing region  132  can be at least about 75% of the width of the trashcan assembly  20  and/or less than or equal to about the width of the trashcan assembly  20 . For example, width  132   e  can be between approximately 0 and approximately 7 inches. A length  132   f  of a distance between the sensor assembly  102  on the central transmission axis and an outer edge of the sensing region  132   a  at which an object can no longer be detected or where radiant intensity falls below 50% of the maximum value can be between approximately 0 and approximately 10 inches. In some implementations, a length  132   g  of the sensing region  132  can be between approximately 0 and approximately 12 inches. In some embodiments, the range  132   d  of the outward-directed sensing region  132  the can be about the same as range  130   d  of the upward-directed hyper-mode sensing region  130   a . In some embodiments, the angle of the sensing region  132  can decrease across the sensing region  132   a  and/or  132   b . For example, an inner portion of the sensing region  132   a  and/or  132   b  can form a beam angle at between about 30 degrees and about 90 degrees, such as about 60 degrees. A mid-portion of the sensing region  132   a  and/or  132   b  can form a beam angle β between about 15 degrees and about 75 degrees, such as about 47 degrees. An outer-portion of the sensing region  132   a  and/or  132   b  can form a beam angle γ between about 0 degrees and about 60 degrees, such as about 30 degrees. 
     In some embodiments, in hyper-mode, the trashcan assembly  20  determines whether a second object-detection-event occurs. For example, in hyper-mode, the trashcan assembly  20  can look, for a certain period, to see if an object is within the sensing region  130  and/or the sensing region  132 . In some embodiments, such an object can be detected by light from one of the transmitters  112   a - c  being reflected off of the object and received by the receiver  114 . The receiver  114  can wait for reflected signals, or any other signals, that may indicate that an object is detected within the sensing region  132  for a first predetermined period (e.g., approximately 1 second, approximately 5 seconds, etc. or a time based on a time it takes the transmitters  112   a - d  to emit a predetermined number of signals). In some embodiments, some or all of the transmitters  112   a - c  may continue to operate for the first predetermined period of time after the sensor assembly  102  transitions to the hyper-mode. In certain implementations, if a second object-detection-event is not detected (e.g., no object is detected within the sensing region  132 ) during the first predetermined period, then the sensor assembly  102  reverts to the ready-mode and/or closes the lid portion  24 . In some implementations, such reversion includes reducing or stopping operation of the transmitters  112   a - c . In other implementations (e.g., implementations in which the transmitters  112   a - c  are active in the ready-mode), such reversion may not affect operation of the transmitters  112   a - c.    
     In some implementations, during the hyper-mode, in response to the trashcan assembly  20  determining that the second object-detection-event has occurred, the lid portion  24  is opened and/or kept open (e.g., not closed). For example, in hyper-mode, in response to an object being detected within the sensing region  130  and/or the sensing region  132  for a second predetermined period of time (e.g., approximately 0.5 seconds, approximately 1 second, etc. or a time based on a time it takes the transmitters  112   a - d  to emit a predetermined number of signals), then the controller  70  (via a software module running the algorithm, such as the lid position controller) can send a command to trigger the trashcan assembly  20  to open the lid. In some embodiments, the object is determined to be detected for the second predetermined period when: the object is detected at first and second moments spaced by the second predetermined period, the object is detected at least twice in a span of time equal to the second predetermined period, and/or the object is detected continuously during a span of time equal to the second predetermined period. 
     In some embodiments, the second object-detection-event only occurs if the object is detected for a sufficient amount of time to indicate that the object&#39;s presence near the trashcan assembly  20  is not merely fleeting or transitory. An example of a fleeting or transitory object detection may occur when a person walks by the trashcan assembly  20 . The person may pass their hand, or a part of clothing, unintentionally above the lid portion  24  and within the ready-mode sensing region  130   b , and then continue to walk away from the trashcan assembly  20 . In such a situation, some it may be desirable to not open the lid. This can reduce unintended operation of the lid portion  24  (which can be perceived as annoying by a user), reduce power usage, reduce the chance of escape of odors in the trashcan assembly  20 , and/or increase the operational life of the trashcan assembly  20 . In various embodiments, the trashcan assembly  20  is configured such that a person may pass by the trashcan assembly  20  without the lid portion  24  opening and/or such that the lid portion  24  automatically opens only after a person slows below a maximum speed (e.g., or stops next to (e.g., in front of) the trashcan assembly  20 . In some embodiments, the maximum speed is less than the normal walking speed for a human, such as about 3.1 mph. In some embodiments, the trashcan assembly  20  is configured to open the lid portion  24  in response to an object being detected in the ready-mode sensing region  130   b , and further configured to close the lid portion  24  soon thereafter (e.g., within less than about 30 seconds from the start of the opening action) if a further object detection event is not detected in at least one of the regions  130 ,  132 . 
     In some embodiments, the lid portion  24  remains open as long as the object is detected within the sensing region  130  or the sensing region  132 . For example, in certain implementations, in hyper-mode, the lid portion  24  is kept open if an object is detected in the sensing region  130   a  or if an object is detected in the sensing region  132   a . In certain embodiments, the controller  70  transmits a command to close the lid portion  24  if no object has been detected in the sensing region  130  or the sensing region  132  for at least a third predetermined period of time (e.g., approximately 1 second, approximately 5 seconds, etc. or a time based on a time it takes the transmitters  112   a - d  to emit a predetermined number of signals). In various embodiments, the sensor assembly  102  reverts to the ready-mode after the lid portion  24  is closed and/or in response to no object being detected in the sensing regions  130 ,  132  for at least the third predetermined period. 
     The software module of the controller  70  (e.g., the lid position controller) can implement a timer or a counter to determine whether the first, second, and/or third predetermined period of time has passed. Alternatively, the trashcan assembly  20  can include a mechanical timer that transmits a signal to the controller  70  when the timer expires or fires to indicate that the timer has expired. 
     In certain embodiments, the range and/or angles of the sensing regions  130   a ,  130   b ,  132   a , and/or  132   b  are pre-determined (e.g., set to the values disclosed above). In other embodiments, the range and/or angles of the sensing regions  130   a ,  130   b ,  132   a , and/or  132   b  can be adjusted by a user. For example, a switch, dial, or other physical component may allow a user to adjust the range and/or angle settings. As another example, the trashcan assembly  20  (e.g., the sensor assembly  102 ) includes a wireless transceiver in communication with the controller  70  (e.g., a Bluetooth transceiver, a Wi-Fi transceiver, etc.). As yet another example, the trashcan assembly  20  can include a port (e.g., a universal serial bus port) in communication with the controller  70 . The user can adjust the range and/or angle settings via an application running on a mobile device (e.g., cell phone, tablet, laptop, watch, etc.) or on any other computing device (e.g., a desktop) and the mobile device can transmit the user-provided adjustments wirelessly to the wireless transceiver of the trashcan assembly  20 . The trashcan assembly  20  may then adjust the range and/or angle settings accordingly. 
     In some embodiments, these arrangements of transmitter(s) and/or receiver(s), or one or more other arrangements of transmitter(s) and/or receiver(s), in cooperation with one or more processing algorithms in the controller, can be configured to trigger an opening of the lid, in either the ready-mode or the hyper-mode, that occurs in one or more of the following situations: (a) when an object is positioned at or near a front, top, lateral corner or region (left or right) of the trashcan assembly; (b) when an object is positioned in front of the front plane or front portion of the trashcan assembly and spaced further laterally away from a lateral side (either left or right) or lateral face of the trashcan; (c) when an object is positioned at or below the top plane of the lid in the closed position, such as below the top plane of the lid in the closed position by at least about the front height of the trim ring, and/or below the plane of the lid in the closed position by at least about 2 inches, and/or below the plane of the lid in the closed position by at least about the front-to-rear thickness of the trim ring; (d) when an object is positioned above the topmost surface of the trashcan; (e) when an object is positioned above the topmost surface of the trashcan and in front of the frontmost surface of the trashcan; and/or (f) when an object is positioned above the topmost surface of the trashcan and behind the frontmost surface of the trashcan. In some embodiments, the sensing regions  130 ,  132  may have varying levels of sensitivity. The transmitters  112   a - d  can emit cones of light, which define the sensing regions  130 ,  132  of the sensors (subject to the nominal range of the sensor assembly  102 ). The areas in which two or more cones overlap can create sensing regions with increased sensitivity. Portions of the sensing regions  130 ,  132  in which cones do not overlap create regions of decreased sensitivity. A user may need to be present in the regions with decreased sensitivity for a longer period of time, or move closer to a transmitter or receiver, to trigger lid movement as compared to regions with increased sensitivity. 
     In some embodiments, the controller  70  can trigger an extended-chore mode in which the trim ring portion  38  can open (as described above) to permit the user to replace the bag liner or clean the interior of the trashcan assembly  20 . For example, the trashcan assembly  20  can include a separate sensor assembly or sensing region (e.g., on a lateral sidewall of the body portion  22  or the rear wall  28  of the body portion) configured to trigger the extended-chore mode. As another example, the user can trigger the extended-chore mode by particular hand motions. In some embodiments, the user can manually position the trim ring portion  38  in an open mode. 
     Environmental Calibration 
     In some embodiments, the controller  70  can trigger a calibration-mode in which sensing thresholds of receiver  114  may be adjusted to account for changes in environment surrounding the trashcan assembly  20 . The calibration-mode can be configured to avoid unintended actuation (e.g., opening) of the trashcan lid by stationary objects located within one or more sensing zones  130   b ,  132   b . For example, receiver  114  of sensor assembly  102  may detect an object within sensing regions  130   b ,  132   b  by detecting one or more signals from one or more of transmitters  112   a - d  that are reflected off from the object. Having detected an object in one or more of the sensing regions  130   b ,  132   b , the sensor assembly  102  can send a signal to the controller  70  to activate a function of the trashcan assembly  20 , e.g., ready-mode. However, situations may occur where a permanently or temporarily stationary or static object is located within one or more of sensing regions  130   b ,  132   b  of trashcan assembly  20 , such as when the user places the trashcan assembly  20  near a stationary object, thereby positioning the object within sensing regions  130   b ,  132   b . Some examples of stationary objections that may routinely be placed within a sensing region  130   b ,  132   b  include a wall, or a piece of furniture, or the underside of a table or desk, or an interior of a cabinet, or a door. For example, the trashcan assembly  20  may be placed under a table located within at least one of the sensing regions  130   b ,  132   b . This may result in unintended or accidental operation of lid portion  24  due to the table being positioned within sensing regions  130   b ,  132   b , because receiver  114  may detect a signal, reflected from the table, above the sensing threshold, causing sensor  102  to send a signal to controller  70  to activate the ready-mode. In another example, degradation of receiver  114  over time may result in sensor drift, which may cause unintended actuation of lid portion  24 . In some embodiments, an algorithm included in controller  70  can send a command to adapt the sensing thresholds of receiver  114  based at least in part on changes in the surrounding environment located within the sensing regions  130   b ,  132   b.    
     An example method of adapting sensing conditions of trashcan assembly  20 , in accordance with some embodiments, will now be described in reference to  FIG. 13 . In some embodiments, the adaptable sensing condition is a sensing threshold of receiver  114  that is adaptable based, at least in part, on a change in the environment positioned within the sensing regions  130 ,  132 . Process  1300  may be performed by controller  70  of trashcan assembly  20 , as described in reference to  FIG. 11A . The method can be implemented, in part or entirely, by a software module of the controller  70  or implemented elsewhere in the trashcan assembly  20 , for example by one or more processors executing logic in controller  70 . In some embodiments, controller  70  includes one or more processors in electronic communication with at least one computer-readable memory storing instructions to be executed by the at least one processor of controller  70 . 
     In some embodiments, process  1300  starts at a start block where a calibration-mode can be initiated. In some embodiments, process  1300  may be initiated by an algorithm of controller  70  that is configured to periodically scan the surrounding environment. This scan can occur with or without user initiation or interaction. For example, in automatic calibration, at a set time interval (e.g., once an hour, once a day, once a week, etc.) controller  70  may send a command to trigger calibration-mode. The automatic periodic scan permits the trashcan assembly  20  to continuously and automatically monitor the surrounding environment and update sensing thresholds in accordance with the method described in reference to  FIG. 13 . In some embodiments, the controller  70  can include an algorithm configured to send a command triggering calibration-mode based on user input. For example, trashcan assembly  20  may include a button (not shown) that a user may operate to manually activate a calibration-mode, such as when the trashcan is positioned in a new location near stationary objects. In some embodiments, a user may place a stationary object within sensing regions  130   b ,  132   b  (e.g., by moving a piece of furniture near the trashcan assembly  20  or by moving the trashcan assembly  20  near a piece of furniture) and the detection of the object within the sensing regions  130   b ,  132   b  may trigger a calibration-mode prior to activating ready-mode. For example, if the trashcan assembly  20  is actuated by an object within a sensing region  130   b ,  132   b  that does not move for longer than a set period of time (e.g., 5 minutes, 10 minutes, 30 minutes, an hour, etc.), then a calibration-mode may be triggered. In some embodiments, controller  70  may automatically send a command to trigger a calibration-mode when a user manually moves the lid (e.g., to open or close it). For example, if the lid is improperly opening or remaining open because a stationary object is within one or more sensing regions  130   b ,  132   b , a user may manually close the lid, which may automatically trigger a calibration-mode. Also, if a user manually opens the lid portion  24 , this may be indicative that one or more current sensing thresholds are inaccurate and that the controller  70  is missing events that should cause trashcan assembly  20  to actuate. 
     After calibration-mode is initiated, the process  1300  continues to block  1310 , where a present state of the environment surrounding trashcan  20  is determined. For example, present proximity measurements are acquired for one or more or all sensing regions of trashcan assembly  20 . In some embodiments, one or more proximity measurements may represent the distance between the trashcan assembly  20  and objects located in the environment surrounding the trashcan assembly  20 . In some embodiments, acquiring proximity measurements for sensing regions includes detecting one or more objects located within sensing regions  130 ,  132 . For example, the transmitters  112   a - d  may emit a signal into sensing regions  130 ,  132  and objects located within sensing regions  130 ,  132  may cause a reflected signal. The reflected signal, detected by receiver  114 , may cause the sensor assembly  102  to send an electronic signal to the controller  70  to store information about nearby objects in the sensing regions  130   b ,  132   b  in the memory of controller  70 . It will be understood that, while the embodiments disclosed herein refer to sensing regions  130  and  132 , the method of  FIG. 13  may not be limited to one or two sensing regions, but may include any number of sensing regions or directions. After determining the present state of the environment, the process continues to subprocess  1320  for each sensing region of the trashcan assembly  20 . 
     For a plurality of sensing regions, subprocess  1320  can continue to block  1330 , where stability thresholds are determined. In some embodiments, the stability thresholds may be based, at least in part, on past proximity or environmental measurements of a given sensing region. A set of past proximity measurements may be stored in the memory of controller  70 . The controller  70  may be configured based on instructions to compute the stability thresholds based on the set of past proximity measurements. For example, the stability threshold may include an average of past proximity measurements. In some embodiments, the stability threshold may be based on all past measurements, or the average may be based on a set of past measurements corresponding to a predetermined time period (e.g., past proximity measurements of the previous day or week or month). In some embodiments, the stability threshold may include a determination of the variability within the past proximity measurements of a given sensing region. For example, the stability threshold may be based on the standard deviation of past proximity measurements used to determine the average proximity measurement. 
     After the stability thresholds are determined, the process  1300  continues to decision block  1340 , where a determination is made as to whether the environment is stable within a given sensing region. In some embodiments, the environment may be deemed stable based, at least in part, on a comparison of the stability thresholds and the current proximity measurement for a given sensing region. For example, if the current proximity measurement acquired in block  1310  for a given sensing region is outside, e.g., exceeds or is below, the stability threshold determined in block  1330 , then the environment is not determined to be stable (e.g., “not stable”). In some embodiments, where the current proximity measurement from block  1310  is off of the average proximity measurement and outside of the standard deviation, then the environment may be deemed not stable. In some embodiments, if decision block  1340  determines that the environment is not stable, then the process  1300  continues to an end block, the sensing threshold is not updated, and the process  1300  is complete. In some embodiments, the determination that the environment is not stable may trigger one or more other functions of trashcan assembly  20 , e.g., ready-mode, hyper-mode, etc., as detailed herein. 
     If decision block  1340  determines that the environment is stable, based, at least in part, on the comparison of the stability thresholds and present state of the environment, then process  1300  continues to decision block  1350 . At decision block  1350  a determination is made as to whether the environmental measurement (e.g., the distance between a sensor and a stationary object) of a given sensing region is less than a calibrated value for that sensing region. In some embodiments, the calibrated value may be the sensing threshold of receiver  114  preinstalled in the controller  70  that causes sensor assembly  102  to send a signal to controller  70  to activate a function of the trashcan assembly  20 . The calibrated value may be based on an expected detection of reflected light of an object in sensing regions  130   b ,  132   b  that activates ready-mode operation. The calibrated value may be locally stored in the memory of controller  70 . In some embodiments, the predetermined calibrated value may include sensing thresholds previously updated due to a prior iteration of process  1300 . In some embodiments, the stability of the environment may be determined based at least in part on the present state of the environment for a given sensing region determined in block  1310 . In some embodiments, the stability of the environment may be determined based at least in part on the average of past proximity measurements determined in block  1330 . In some embodiments, the controller  70  may include an algorithm configured to send a command to compare the proximity measurement with the calibrated value. 
     If a determination is made that the environmental measurement is less than the predetermined calibrated value, then process  1300  continues to block  1360 . At block  1360 , the sensing threshold for a given sensing region is reset to the calibrated value. For example, the sensing thresholds may be adjusted to the preinstalled sensing threshold based on the calibrated value, thereby prohibiting receiver  114  from detecting objects outside of the given sensing regions, for example, due to sensor drift. In some embodiments, the updated sensing threshold may be stored in the memory of controller  70 . 
     If the determination at decision block  1350  is that an environmental measurement is greater than the calibrated value, then process  1300  continues to block  1370 . At block  1370 , the sensing threshold for a given sensing region is normalized based on the environmental measurement. The updated sensing threshold may be stored in the memory of controller  70 . In some embodiments, the environmental measurement may be based on the present state of the environment, as determined in block  1310 . In some embodiments, the environmental measurement may be based on the average of past proximity measurements, as determined in block  1330 . In embodiments where the environmental measurement is greater than the calibrated value, the environmental measurement may represent a static change in the environment located within in the given sensing region. The controller  70  may include an algorithm to issue a command to normalize or calibrate the sensing thresholds, such as in process  1300 , to accommodate the static change. For example, the sensing thresholds may be adjusted or normalized. For example, a reflected signal received by receiver  114  from a static change may produce an adjustment or normalization that represents a triggering measurement beyond which the ready-mode operation will be activated. In some embodiments, unintended or accidental movement of lid portion  24  may be avoided by normalizing the sensing thresholds based on the static change. 
     In some embodiments, the sensing threshold may be updated to be equal to the environmental measurement plus a margin. Thus, the sensing thresholds may be set marginally beyond the environmental measurement, for example, based on the standard deviation determined in block  1330 . By setting the sensing threshold marginally beyond the environmental measurement, the controller  70  may account for noise detected by sensor assembly  102  or other inconsequential variations in the detected surroundings. Sensing thresholds can be adapted or normalized to accommodate static changes in the surrounding environment, e.g., a new piece of furniture placed near trashcan assembly  20 . In some embodiments, a fixed object or static object within sensing regions  130   b ,  132   b  may not trigger ready-mode, or may avoid a repeated triggering or ready-mode, thereby avoiding repeated unintended or accidental opening of the lid portion  24 . 
     Once the sensing thresholds are updated for one or more sensing regions, either from block  1360  or  1370 , the process  1300  continues to an end block and the process  1300  is completed. Upon completion of process  1300 , the process  1300 , or portions thereof, may be repeated. In some embodiments, the controller  70  may continuously or periodically monitor the surrounding environment and update the sensing thresholds as needed. In some embodiments, controller  70  may send a command to trigger calibration-mode based on a predetermined time interval, e.g., once an hour, a day, a week, or a month, etc. In some embodiments, controller  70  may monitor the surrounding environment to update sensing thresholds as necessary without constantly operating sensor assembly  102 . in some embodiments, periodic rather than continuous running of calibration-mode, including sensor assembly  102 , can reduce the power demand for powering the sensor assembly  102 , thereby improving the performance and life of sensor assembly  102 . In some embodiments, controller  70  may not trigger process  1300  until receiving a user input, e.g., user operating a button or selecting a command prompt. 
     Lid Driving Mechanism 
     As mentioned above, the backside enclosure  56  can house a power source  66  and a power-operated driving mechanism  58  to drive lid movement. The driving mechanism  58  can include a drive motor  78  and a shaft  80 . In some embodiments, the driving mechanism  58  can include a clutch member  84  that can translate along at least a portion of the longitudinal length of the shaft  80 . The clutch member  84  can be positioned on the motor shaft  80  between a biasing member  82  (e.g., a spring) and an end member  86  (e.g., a torque transmission member) (see  FIG. 12 ), such that the biasing member  82 , the clutch member  84 , and the end member  86  are generally coaxial. At least some of the driving mechanism components can be removably coupled to facilitate repair, replacement, etc. 
     As shown in  FIG. 12 , the clutch member  84  can include one or more torque transmission members, such a first arm  106  and a second arm  108  that can extend radially outward from a body of the clutch member  84 . In some embodiments, the arms  106 ,  108  can be spaced apart from each other, such as by about 180 degrees. Various other angles are contemplated, such as at least about: 30°, 45°, 60°, 90°, 120°, values in between, or otherwise. 
     In some embodiments, the end member  86  can be fixed to the motor shaft  80  (e.g., by a fastener), such that torque from the motor  78  can be transmitted through the shaft  80  and into the end member  86 . The biasing member  82  can bias the clutch member  84  against the end member  86  to form a frictional interface between the clutch  84  and end member  86 . The frictional interface causes the clutch member  84  to rotate when the end member  86  rotates. 
     As shown in  FIG. 11A , the lid portion  24  can include a rear portion  64  covering at least a portion of the driving mechanism  58 . The lid portion  24  can include a lid driving portion  74  positioned at or near the rear underside of the lid portion  24 . The lid-driving portion  74  can abut, mate, contact, receive, and/or be received by the drive mechanism  58  to facilitate opening and closing the lid portion  24 . For example, the lid-driving portion  74  can be generally arcuately-shaped and surround at least a portion of the drive mechanism  58 . The lid-driving portion  74  can include rotation support members, such as a first flange  88  and a second flange  90  that can extend radially inward. The flanges  88 ,  90  can interface with the clutch member  84 , such that rotation of the clutch member  84  can drive lid movement. Rotational force produced by the motor  78  (via the shaft  80 , end member  86 , and/or clutch member  84 ) encourages rotation of the arms  106 ,  108  against the flanges  88 ,  90  to rotate the lid portion  24 . 
     In some scenarios, a user may accidentally or intentionally try to manually close or open the lid portion  24 . However, manually closing the lid portion  24  when the motor has opened or is in the process of opening the lid portion  24  acts against the operation of the motor  78  and can damage components of driving mechanism  58 . For example, when the motor  78  is opening the lid portion  24 , the motor  78  encourages the arms  106 ,  108  to abut against and turn the flanges  88 ,  90  in a first direction. Yet, when a user manually attempts to close the lid portion  24 , the lid and the flanges  88 ,  90  are encouraged to rotate in a second direction opposite the first direction. In this scenario, the arms  106 ,  108  are being encouraged to rotate in opposite directions concurrently, which can damage the clutch member  84 , the shaft  80 , and the motor  78 . 
     To avoid such damage, the clutch member  84  can be configured to rotate relative to the end member  86  or other components, such that manual operation of the lid portion  24  does not damage (e.g., strip or wear down) components of the driving mechanism  58 . In some embodiments, the clutch member  84  can include a first cam surface  180  and a first return surface  182  (see  FIG. 12 ). The first cam surface  180  can be inclined from a first level to a second level, in relation to a plane extending generally transverse to the longitudinal axis of the clutch member  84 . The first return surface  182  can intersect the first cam surface  180  and can be disposed between the first and second levels. 
     The end member  86  can include a second cam surface  184  and a second return surface  186 . The second cam surface  184  can be inclined from a first level to a second level, in relation to a plane extending generally transverse to the longitudinal axis of the end member  86  and the shaft  80 . The second return surface  186  can intersect the first cam surface  180  and can be disposed between the first and second levels. 
     The second cam surface  184  and the second return surface  186  of the end member  86  can be shaped to correspond with the first cam surface  180  and the first return surface  182  of the clutch member  84 , thereby allowing mating engagement of the end member  86  and the clutch member  84 . For example, summits  180   a  of the first cam surface  180  can be nested in the valleys  184   b  of the second cam surface  184 , and summits  184   a  of the second cam surface  184  can be nested in the valleys  180   b  of the first cam surface  180 . 
     When the lid portion  24  is manually operated, the first inclined cam surface  180  can move relative to the second inclined cam surface  184 . As the inclined cam surface  180  slides relative to the second inclined cam surface  184 , the summit  180   a  circumferentially approaches the summit  184   a . The relative movement between the first and second inclined cam surfaces  180 ,  184  (e.g., by the interaction of the inclines) urges the clutch member  84  away from the end member  86  along the longitudinal axis of the shaft  80  (e.g., in a direction generally toward the motor  78  and against the bias of the biasing member  82 ). The end member  86  can be generally restrained from moving longitudinally (e.g., by the fastener). Since the clutch member  84  is displaced from the end member  86 , manual operation of the lid portion  24  can be performed without imposing undue stress on, or damage to, components of the trashcan assembly  20   
     When manual operation of the lid portion  24  ceases, the biasing member  82  can return the clutch member  84  into generally full engagement with the end member  86 . Re-engaging the clutch member  84  and the end member  86  permits transmission of torque from the motor  78  to the clutch member  84  to drive lid movement. 
     As shown in  FIG. 11B , when the first arm  106  abuts the first flange  88  and the second arm  108  abuts the second flange  90 , a circumferential distance D 1  exists between a non-abutted surface  108   a  of the second arm  108  and a non-abutted surface  88   a  of the first flange  88 . In some embodiments, a generally equal circumferential distance D 2  (not shown) exists between a non-abutted surface  106   a  of the first arm  106  and a non-abutted surface  90   a  (not shown) of the second flange  90 . In certain configurations, the circumferential distance D 1  and/or D 2  is greater than or equal to the amount of rotation of the lid from the open to the closed position. For example, the circumferential distance D 1  and/or D 2  can be at least about 60° and/or less than or equal to about 125°. In certain variants, the circumferential distance D 1  and/or D 2  is greater than or equal to about 80°. 
     Due to the circumferential distances D 1 , D 2  between the non-abutted surfaces  88   a ,  90   a  of the flanges  88 ,  90  and the non-abutted surfaces  106   a ,  108   a  of the arms  106 ,  108 , the lid portion  24  can be manually operated without turning the motor  78 . If a user were to operate the lid portion  24  manually, the flanges  88 ,  90  would rotate without applying force to the arms  106 ,  108  of the clutch member  84 , and thus rotate the lid without damaging components of the driving mechanism  58 . 
     In some embodiments, the driving mechanism  58  can drive the lid movement without the clutch member  84 . As shown in  FIG. 16A , the driving mechanism  58  can include the motor  78 , a torque transfer system such as the shaft  80 , fasteners  1602   a - b , an adaptor  1604 , and an electronic dynamic position detector such as a potentiometer  1606 . In some embodiments, the adaptor  1604  and the potentiometer  1606  can be positioned on or in mechanical communication with the shaft  80  adjacent to the motor  78  such that the adaptor  1604  and the potentiometer  1606  are generally coaxial. The positioning of the adaptor  1604  and the potentiometer  1606  on the shaft  80  is described in greater detail below with respect to  FIGS. 17D and 17E . The adaptor  1604  can be positioned between the potentiometer  1606  and the motor  78 . As shown in  FIGS. 16B and 16C , the adaptor  1604 , the potentiometer  1606 , and/or the motor  78  can be spaced apart from each other. 
     In some embodiments, the adaptor  1604  can be fixed or mated to or otherwise in mechanical communication with the shaft  80  such that torque from the motor  78  can be transmitted through the shaft  80  and into the adaptor  1604 . A rotation of the shaft  80  caused by the motor  78  can result in the rotation of the adaptor  1604  about the longitudinal axis of the shaft  80 . The fasteners  1602   a - b  (e.g., screws) can be used to fasten the adaptor  1604  to the rear portion  64  of the lid portion  24 , as shown in  FIG. 18A  and described in greater detail below. The fasteners  1602   a - b  can generally restrain the adaptor  1604  from moving longitudinally. The motor  78  can be rigidly coupled with the lid portion  24  via the adaptor  1604  and fasteners  1602   a - b . The motor  78  can directly drive the opening and/or closing of the lid portion  24  without the clutch member  84  in some embodiments. 
     As described above, in some scenarios, a user may accidentally or intentionally try to manually close or open the lid portion  24 . Similarly, the lid portion  24  may not be able to completely open or close due to an obstruction (e.g., the lid portion  24  contacts the underside of a table when opening or the trashcan assembly  20  is overfilled with trash, preventing the lid portion  24  from completely closing). In some systems, components of the driving mechanism  58  can be damaged if an obstruction or user action acts against the operation of the motor  78 , especially if a clutch assembly is not available. 
     In some embodiments, the trashcan assembly  20  can avoid or prevent the likelihood of such damage occurring. In some embodiments, as the motor  78  is operating to open or close the lid portion  24 , the driving mechanism  58  may monitor for any friction or resistance that could indicate an obstruction or manual operation of the trashcan assembly  20 . Such friction or resistance may be detected by the motor  78 , the potentiometer  1606 , the controller  70 , and/or any other components of the driving mechanism  58 . For example, the potentiometer  1606  may output a voltage to the controller  70 . As described in greater detail below, as the motor  78  rotates the shaft  80 , the shaft  80  causes a change in resistance of the potentiometer  1606 , thereby resulting in a change in the voltage output by the potentiometer  1606 . Generally, as the lid portion  24  is opened or closed, the voltage output by the potentiometer  1606  gradually changes in a constant direction (e.g., the voltage gradually increases or gradually decreases) given that the shaft  80  rotates in a single direction until the lid portion  24  is opened or closed. If an obstruction is present or a user attempts to manually control the trashcan assembly  20 , the gradual change in the voltage output by the potentiometer  1606  may be disrupted (e.g., the voltage may begin to increase when the voltage is expected to decrease, or the voltage may begin to decrease when the voltage is expected to increase, or the voltage may stay constant when the voltage is expected to increase or decrease, and/or the voltage may change more slowly than expected, etc.). When the controller  70  detects such a disruption, the power to the motor  78  can be modified, such as by shutting off the power and/or reversing the direction of the motor  78 , or otherwise disabling the motor, thereby reducing the likelihood of damage to the components of the driving mechanism  58 . When the motor  78  is disabled, the movement of the lid portion  24  may work against the internal friction of the motor  78  (e.g., because the lid portion  24  is rigidly coupled with the motor  78  via the adaptor  1604  and the fasteners  1602   a - b ), thereby providing an inherent damping ability that reduces a speed at which the lid portion  24  closes. 
     In some embodiments, if an obstruction is detected (e.g., the voltage of the potentiometer  1606  remains generally constant while the motor  78  attempts to drive the lid portion  24 ) and the obstruction occurs two or more times within a finite or predetermined period of time, this may indicate that an inanimate object (e.g., an underside of a cabinet or a wall or a piece of furniture or a door, etc.) is blocking operation of the lid portion  24  and/or causing the lid portion  24  to open in the first place. The controller  70  may reduce range  130   d  and/or range  132   d , such as to be less than the distance to such object, to reduce the likelihood that the inanimate object would cause the lid portion  24  to open in the future. 
     As shown in  FIGS. 16B and 16C , the potentiometer  1606  can be coupled adjacent to or otherwise in electrical communication with a PCB of the controller  70 . As shown in  FIGS. 17A and 17B , the potentiometer  1606  can include one or more connectors  1706   a - d  to couple the potentiometer  1606  with the PCB. The one or more connectors  1706   a - d , together with other circuitry of the PCB, may form a closed circuit, thereby allowing a current to pass through the potentiometer  1606 . A bottom portion of the potentiometer  1606  includes notches  1712   a  and  1712   b  that extend outward from the bottom portion of the potentiometer  1606 , as shown in  FIG. 17C . When the potentiometer  1606  is coupled adjacent to the PCB, the notches  1712   a - b  each mate with openings in the PCB. 
     In certain embodiments, as shown in  FIG. 17D , the potentiometer  1606  includes an opening through which the shaft  80  longitudinally extends. The potentiometer  1606  also includes a contact  1710  that controls a variable resistance of the potentiometer  1606 . The contact can be configured to connect with, functionally interact with, or be in mechanical communication with, the driving system of the lid. For example, a portion of the contact  1710  can have a flat surface and another portion of the contact  1710  can have a curved or rounded surface. Likewise, a portion of the shaft  80  can have a flat surface and another portion of the shaft  80  can have a curved or rounded surface. The flat surface of the shaft  80  can abut, contact, and/or mate with the flat surface of the contact  1710  and the curved or rounded surface of the shaft  80  can abut, contact, and/or mate with the curved or rounded surface of the contact  1710 . In some embodiments, both the contact  1710  and the shaft  80  have corresponding or complementary grooves, indentations, or other non-uniform features on a surface to allow the contact  1710  and the shaft  80  to abut, contact, and/or mate. Rotational force produced by the motor  78  (via the shaft  80 ) may encourage rotation of the contact  1710  about the longitudinal axis of the shaft  80 . This rotation causes the contact  1710  to adjust or modify the resistance of the potentiometer  1606 , and thereby causes the contact  1710  to adjust the output voltage of the potentiometer  1606 . 
     As shown in  FIG. 17E , the adaptor  1604  can include a flange  1704 . Like the contact  1710 , an inner portion of the flange  1704  can have a flat surface and a curved or rounded surface. The flange  1704  can abut, contact, and/or mate with the shaft  80  in a manner similar to the contact  1710 . The flange  1704  may extend radially outward from the remaining portion of the adaptor  1604 . Rotational force produced by the motor  78  (via the shaft  80 ) may encourage rotation of the flange  1704  about the longitudinal axis of the shaft  80 , which causes the remaining portion of the adaptor  1604  to rotate. In some embodiments, the motor  78  may be required to exert greater force to drive the lid portion  24  from the closed position to the open position than to drive the lid portion  24  from the open position to the closed position. For example, as disclosed herein, the motor  78  can be positioned within the driving mechanism  58 , which is covered by the rear portion  64  of the lid portion  24  as shown in  FIG. 18A . Given the position of the motor  78  and the pivot axis of the lid portion  24 , the moment of force exerted on the lid portion  24  in the closed position may be greater than the moment of force exerted on the lid portion  24  in the open position. The force of gravity may aid the driving mechanism  58  in the open-to-closed procedure, whereas the force of gravity may resist the driving mechanism  58  in the closed-to-open procedure. To counteract the greater moment of force and gravity force and to reduce the stress on the motor  78  and other driving structures, the driving mechanism can include one or more biasing members, such as springs  1802   a  and/or  1802   b  (e.g., tension springs), as shown in  FIG. 18B . 
     As shown in  FIG. 18C , the springs  1802   a  and  1802   b  couple with the rear portion  64  of the lid portion  24 . The spring  1802   a  can be inclined from a first level to a second level, in relation to a plane extending generally transverse to the longitudinal axis of the pivot pins  50 ,  52 . Likewise, the spring  1802   b  can be inclined from a first level to a second level, in relation to a plane extending generally transverse to the longitudinal axis of the pivot pins  50 ,  52 . The springs  1802   a  and  1802   b  can be stretched or elongated from a resting length of the springs  1802   a ,  1802   b . Thus, the springs  1802   a ,  1802   b  can help counteract the greater moment of force or gravitational force by providing a biasing force to assist the motor  78  in driving the lid portion  24  to the open position. 
     Lid Position Sensors 
     As shown in  FIG. 10C , the lid portion  24  can include a position sensing system that comprises one or more lid position sensing elements, such as a first flagging member  92  and a second flagging member  94 , and/or a variable resistor (e.g., a potentiometer). The driving mechanism  58  can include one or more position sensors, such as a first position sensor  96  and a second position sensor  98 , to detect the position of the lid portion  24 , e.g., by detecting the position of the flagging members  92 ,  94 . The motor  78  and the position sensors  96 ,  98  can communicate with the controller  70  to facilitate control of the movement of the lid portion  24 . As shown in  FIGS. 11A and 11B , the driving mechanism  58  can include a first position sensor  96  (e.g., a closed position sensor) and a second position sensor  98  (e.g., an open position sensor). In some implementations, the position sensors  96 ,  98  can include paired optical proximity detectors, such as light emitters, that cooperate with an intermediate sensor  128 , such as a light receiver. As illustrated, the position sensors  96 ,  98  can be located in a single housing, which can facilitate manufacturability and repair and can reduce the overall space occupied by the position sensors  96 ,  98 . 
     When the lid portion  24  is in its home or fully closed position, the first flagging member  92  is located between the first position sensor  96  and the intermediate sensor  128  and the second flagging member  94  is not located between the second position sensor  98  and the intermediate sensor  128 . In this configuration, the first flagging member  92  blocks an emission (e.g., a signal) between the first position sensor  96  and the intermediate sensor  128 , which can be interpreted (e.g., by the controller implementing an algorithm) to discern the position of the lid portion  24 . 
     As the lid portion  24  rotates into the fully open position, the first flagging member  92  rotates such that it is no longer between the first position sensor  96  and the intermediate sensor  128 , and the second flagging member  94  rotates such that it is between the second position sensor  98  and the intermediate sensor  128 . In this configuration, the second flagging member  94  blocks an emissions (e.g., a signal) between the second position sensor  98  and the intermediate sensor  128 , which can be interpreted by the controller  70  to discern the position of the lid portion  24 . 
     Any combination of flagging members and position sensors can be used to detect various positions of the lid portion  24 . For example, additional positions (e.g., an about halfway opened position) can be detected with additional sensors and flagging members in a manner similar or different from that described above. Some embodiments have flagging members located in the backside enclosure  56  and position sensors on the lid portion  24 . 
     In some embodiments, the output of the electronic dynamic position detector, such as a potentiometer  1606 , can indicate a position of the lid portion  24  without requiring a separate mechanical and/or optical positioning system. Thus, in some embodiments, the first flagging member  92 , the second flagging member  94 , the first position sensor  96 , and/or the intermediate sensor  128  are not used. For example, in some embodiments, the rotation of the shaft  80  can cause a rotation of the contact  1710 , changing the resistance of the potentiometer  1606 , such as is described above. In some embodiments, rotation of the shaft  80  can cause both a change in the resistance of the potentiometer  1606  and a change in a position of the lid portion  24  (e.g., since the contact  1710  abuts, contacts, and/or mates with the shaft  80  and since the lid portion  24  is rigidly coupled with the motor  78 ). A position of the lid portion  24  can be directly or indirectly correlated with the resistance of the potentiometer  1606  (or a voltage output by the potentiometer  1606 ). 
     Given this relationship, the controller  70  can be configured to store voltage values that represent different positions of the lid portion  24 , including a completely closed position and a completely open position, and one or a plurality of various steps in between the completely closed position and a completely open position. As the motor  78  drives the lid portion  24 , the controller  70  can periodically or generally continuously measure (e.g., every 0.1 ms, every 1 ms, etc.) the voltage output by the potentiometer  1606  and compare that voltage with the stored voltages. For example, the potentiometer  1606  may output a first voltage when the lid portion  24  is closed and may output a second voltage greater than the first voltage when the lid portion  24  is open (or vice-versa). When comparing the voltages, if the controller  70  determines that the measured voltage is less than or equal to the first voltage, then the controller  70  may determine that the lid portion  24  is completely closed and send a command to disable the motor  78 . Likewise, if the controller  70  determines that the measured voltage is greater than or equal to the second voltage, then the controller  70  may determine that the lid portion  24  is completely open and send a command to disable the motor  78 . In some embodiments, as the controller  70  senses, from the potentiometer  1606 , that the lid is near the completely open or completely closed positions, the controller  70  can decrease the speed or slow down the motor  78  so as to avoid a forceful or loud closing or opening. 
     Thus, in some embodiments, the controller  70  can: (a) periodically or generally continuously measure the voltage output of an electronic component (such as the potentiometer  1606 ) and can compare the measured voltage with stored voltages; and/or (b) directly measure the movement of the lid portion (such as by measuring a degree of rotation or other movement of a mechanical component of the lid assembly itself, such as the shaft  80 ), without requiring the use of a separate movement-detecting system such as a flagging system or an optical measuring system). In some embodiments (such as in embodiments that use an electronic detector such as a potentiometer), the controller  70  can determine a position of the lid portion  24  on a generally continuous basis, not just at discrete positions (e.g., completely closed, completely open, or any position in between completely closed and completely open), at the time that the voltage output by the potentiometer  1606  is measured. Also, in some of such embodiments, the risk of decoupling or slipping or misreading of the lid-opening system from the lid-position-detecting position is very low, since the position of the lid is measured directly from a mechanical component that moves the lid itself. Some systems, on the other hand, may use flags or other markers that are separate from the mechanical components that open the lid (e.g., flagging members  92 ,  94 ) but that track the position of the lid portion  24 , such as is described above. However, in some embodiments of these systems, the position of the lid portion  24  is only determined at discrete positions (e.g., positions associated with a flagging member). Thus, the position of the lid portion  24  may not be able to be determined if no flagging member is between a position sensor and the intermediate sensor  128 . In some situations, making an accurate determination of the position of the lid portion  24  may be important because the trashcan assembly can use the position determination to determine when to shut off the motor  78  to prevent damage or malfunction (e.g., the motor  78  may be shut off when the lid portion  24  is in the completely open or completely closed position). In some situations, the motor  78  may be running to cause movement of the lid portion  24 , but an obstruction or the user may be preventing movement of the lid portion  24 . Because the motor  78  is running, the lid portion  24  is not moving, and no flagging member is between a position sensor and the intermediate sensor  128 , the actual position of the lid portion  24  is unknown. A controller may determine that the lid portion  24  is at a certain position based on a time that the motor  78  has been running, the number of rotations of the motor  78 , and/or the like when in fact the lid portion  24  is not at the determined position due to the obstruction or user. To address this issue, some systems may have to run a reset operation. In the reset operation, some embodiments of such systems can request a user to completely close the lid portion  24  so that the actual position of the lid portion  24  is known. Once the lid portion  24  is in the completely closed position, the trashcan assembly can resume lid open and close operations. By using a sensor system, such as the potentiometer  1606 , that is more directly connected to the components that open the lid, such a trashcan assembly  20  can be used without running a reset operation in situations in which an obstruction or the user prevents movement of the lid portion  24 . In some embodiments, given the relationship between the potentiometer  1606 , the shaft  80 , and the lid portion  24 , the voltage output by the potentiometer  1606  only changes if the position of the lid portion  24  changes. Thus, the voltage output by the potentiometer  1606  can be used by the controller  70  to accurately determine a position of the lid portion  24  even if an obstruction or a user prevents the motor  78  from moving the lid portion  24  to an open or closed position. 
     The controller  70  can store voltages and perform the comparison for any type of potentiometer. For example, the potentiometer  1606  can be a linear potentiometer, a logarithmic potentiometer, and/or the like. 
     LED Indicator 
     As shown in  FIGS. 10B and 10C , the lid portion  24  can include one or more indicators  150  (e.g., an LED indicator). For example, when the lid portion  24  is open, the indicator  150  can display a certain color of light, e.g., green light. As another example, the indicator  150  can display a certain color of light based on the amount of remaining power, so the user knows when to recharge the power source  66  (e.g., red light can indicate low power). In yet another example, the indicator  150  can provide a light source when the trashcan assembly  20  is being used in the dark. 
     The indicator  150  can indicate whether an object is detected in the sensing region  130  and/or the sensing region  132  by the sensor assembly  102  and/or provide notice that the lid portion  24  may close within a certain period of time. For example, when the lid portion  24  is open (e.g., because the receiver  114  detects a signal emitted by one or more of the transmitters  112   a - d  that has reflected off of an object), the trashcan assembly  20  enables the indicator  150  (e.g., causes the indicator  150  to display a certain color of light). If an object is no longer detected in at least one of the sensing regions  130 ,  132  (e.g., the receiver  114  does not detect a signal reflected off an object), the trashcan assembly  20  disables the indicator  150 . As described herein, after an object is no longer detected, the lid portion  24  may remain open for a pre-determined period of time before being moved to the closed position. If, before the lid portion  24  is closed, the sensor assembly  102  again detects an object, then the indicator  150  can be re-enabled (and the lid portion  24  may remain open). Thus, disabling the indicator  150  may serve as notice that the sensor assembly  102  no longer detects an object and that the lid portion  24  may close if no object is detected before the pre-determined period of time expires. A user can therefore use the indicator  150  as a guide to determine whether the sensor assembly  102  detects the user and/or whether the user needs to change positions to keep the lid portion  24  open. 
     The indicator  150  can be positioned on a bottom portion of the lid portion  24  such that the indicator  150  is only visible when the lid portion  124  is in an open position. In some embodiments, the exterior of the trashcan assembly is simple and clean, without any buttons switches, and/or indicators. As shown in  FIGS. 10B and 10C , the indicator  150  can be positioned at a periphery of the lid portion  24 . In some embodiments, the lid portion  24  can include an upper lid  24   a  secured to a lower lid  24   b  (see  FIGS. 10A-10C ). The one or more indicators  150  can be powered by the power source  66  via cables extending between the upper and lower lids  24   a ,  24   b.    
     Controlling Lid Position 
     As previously discussed, the trashcan assembly  20  can implement an algorithm that directs various actions, such as opening and closing of the lid portion  24 , triggering the ready-mode and hyper-mode, or other actions. In general, the algorithm can include evaluating one or a plurality of received signals and, in response, determining whether to provide an action. In some embodiments, the algorithm determines whether to provide an action in response to receipt of a signal from at least two sensors, such opening the lid portion  24  in response to signals from as at least two transmitters (e.g., the transmitter  112   d  and at least one of transmitters  112   a - c ). In certain variants, the algorithm determines whether to open the lid portion  24  in response to an object being detected in a certain location or combination of locations, such as an object being detected in the sensing region  130  and in the sensing region  132 . Some embodiments are configured to open the lid portion  24  in response to an object being detected in a certain sequence of locations, such as an object being detected in the sensing region  130  and an object being subsequently or concurrently detected in the sensing region  132 . Certain implementations are configured to determine whether a detected object is fleeting or transitory, which may indicate that the detected object is not intended to trigger operation of the trashcan assembly  20  (e.g., a person walking by the trashcan assembly  20 ). For example, some embodiments can evaluate whether a detected object is detected for less than a certain period and/or is moving through at least one of the sensing regions (e.g., the region  132 ) at greater than or equal to a maximum speed. If the detected object is fleeting or transitory, the algorithm can determine that the lid portion  24  should not be opened in response to such detection. 
       FIG. 14  illustrates an example algorithm process  1400  of controlling the position of the lid portion  24 . The process  1400  may be performed by controller  70  of trashcan assembly  20 , as described above (e.g., in connection with  FIGS. 9A-9D ). The method can be implemented, in part or entirely, by a software module of the controller  70  (e.g., by the lid position controller) or implemented elsewhere in the trashcan assembly  20 , for example by one or more processors executing logic in controller  70 . In some embodiments, controller  70  includes one or more processors in electronic communication with at least one computer-readable memory storing instructions to be executed by the at least one processor of controller  70 , where the instructions cause the trashcan assembly  20  to implement the process  1400 . 
     In some embodiments, the process  1400  starts at block  1402  where a signal is emitted using a first transmitter, such as the transmitter  112   d  (e.g., a generally vertical transmitter). In some embodiments, in block  1402 , the trashcan assembly  20  is in the ready-mode state, as discussed above. In some embodiments, the transmitter  112   d  is configured to emit a signal generally upward from an upper surface  102   a  of the sensor assembly  102  (e.g., on top of the trashcan assembly  20 , between about 0 and about 10 degrees from the top surface of the trashcan assembly  20 , such as shown in  FIGS. 9C and 9D ). In some embodiments, the transmitters  112   a - c  are not emitting signals in block  1402 . In other embodiments, the transmitters  112   a - c  are also emitting signals in block  1402 . 
     As shown, the process  1400  can include block  1404  where a determination is made as to whether an object is detected, such as in the region  130   b . For example, the receiver  114  can determine whether a reflected signal is detected in response to the signal emitted by the transmitter  112   d  (and provides such indication to the controller  70 ), which may indicate that an object is in the sensing region  130   b . If no object is detected, the process  1400  reverts to block  1402 . However, if an object is detected, the process  1400  continues to block  1406 , in which the lid portion  24  is opened. For example, in response to an object being detected in the region  130   b , the controller  70  can send a signal to a motor to open the lid portion  24 . 
     In the block  1406 , one or more sensors and one or more algorithms can be used to receive and process information about the background or ambient light of the environment in which the trashcan assembly  20  is being used. For example, it can be determined whether or not the trashcan assembly  20  is being used in a bright environment, such as ambient sunlight, before the lid portion  24  is opened. The controller  70  can be configured to determine whether or not the receiver  114  is receiving light signals substantially continuously. For example, if the receiver  114  generally receives signals over a time period of 800 microseconds and has more than about ten to twelve dropouts during that time period, it can be assumed that the trashcan assembly  20  is being exposed to bright ambient light, such as sunlight. As such, the controller  70  can be configured to avoid analyzing the output of the receiver  114 . The trashcan assembly  20  can also include a light sensor, such as a photo diode, that measures the lux level of ambient light. The lux level can be transmitted to the controller  70  on a continuous basis. If a sudden change in the lux level occurs within a certain period of time (e.g., because a person turned on a light or the sun started shining on the trashcan assembly  20 ) at or nearly at the same time as an object is detected in block  1404  (e.g., within 1 ms, within 1 second, etc.), then it may be assumed that the trashcan assembly  20  is being exposed to bright ambient light. If it is determined, in the block  1406 , that the trashcan assembly  20  is in a bright environment, the process  1400  can return to block  1402  and repeat. On the other hand, if it is determined in block  1406  that the trashcan assembly  20  is not reporting an aberration in the detection of ambient light, then the process  1400  can move on to block  1408 . 
     In some embodiments, the process  1400  moves to block  1408 , which can include producing first and second sensing regions  130 ,  132  (e.g., generally vertical and generally horizontal sensing regions). For example, transmitter  112   d  can continue to produce the sensing region  130  and the transmitters  112   a - c  can produce the second sensing region  132 . In certain embodiments, block  1408  includes beginning to emit signals from the transmitters  112   a - c . In some implementations, in block  1408 , the trashcan assembly  20  can enter the hyper-mode, as discussed above. For example, the sensing extent of the first sensing region  130  can be increased, as discussed above. 
     As illustrated, the process  1400  can include block  1410  where a determination is made as to whether a further object-detection event has occurred. For example, the trashcan assembly  20  can determine whether an object has been detected in at least one of the sensing regions  130 ,  132 . If a further object-detection event has occurred, the process  1400  can revert to block  1408 , in which the first and second sensing regions  130 ,  132  are produced. 
     If no further object-detection event has occurred, the process  1400  can continue to block  1412 . In some embodiments, the process  1400  includes a timer or delay before moving to block  1412 . For example, the process  1400  can include determining that no further object-detection event has occurred for at least a predetermined amount of time, such as at least about: 1, 2, 3, or 4 seconds. This can enable a user to briefly leave the sensing regions  130 ,  132  without the process  1400  continuing to block  1412 . 
     In some embodiments, block  1412  includes closing the lid portion  24  and/or reverting to the ready-mode. For example, the controller  70  can send a signal to a motor to close the lid portion  24 . In certain implementations, block  1412  includes reducing the extent of the first sensing region  130  and/or reducing or eliminating the range of the second sensing region  132 . In some embodiments, block  1412  includes reducing or ceasing operation of the transmitters  112   a - c . As illustrated, the process  1400  can revert to block  1402 . 
       FIG. 15  illustrates an example algorithm process  1500  of controlling the position of the lid portion  24 . The process  1500  may be performed by the controller  70  of trashcan assembly  20 , as described above (e.g., in connection with  FIGS. 9A-9D ). The method can be implemented, in part or entirely, by a software module of the controller  70  (e.g., by the lid position controller) or implemented elsewhere in the trashcan assembly  20 , for example by one or more processors executing logic in the controller  70 . In some embodiments, the controller  70  includes one or more processors in electronic communication with at least one computer-readable memory storing instructions to be executed by the at least one processor of controller  70 , where the instructions cause the trashcan assembly  20  to implement the process  1500 . 
     In some embodiments, process  1500  starts at block  1502  where a signal is emitted using a first transmitter, such as a generally vertical transmitter. For example, the controller  70  can instruct the vertical transmitter to emit the signal. The vertical transmitter can be the transmitter  112   d , which emits a signal generally upward from an upper surface  102   a  of the sensor assembly  102  (e.g., on top of the trashcan assembly  20 , between about 0 and about 10 degrees from the top surface of the trashcan assembly  20 , such as shown in  FIGS. 9C and 9D ). In some embodiments, in block  1502  the sensor assembly  102  is in the ready-mode and the transmitters  112   a - c  are not emitting signals. 
     As shown, the process  1500  can include block  1504  where a determination is made as to whether an object is detected. For example, the receiver  114  determines whether a reflected signal is detected in response to the signal emitted by the transmitter  112   d  (and provides such indication to the controller  70 ), which may indicate that an object is in the sensing region  130   b.    
     If no object is detected, the process  1500  reverts to block  1502 . However, if an object is detected, the process  1500  continues to block  1506 . In certain embodiments, block  1506  includes activating the hyper-mode, which can include increasing the extent of the sensing range of the first transmitter, as is discussed above. In some embodiments, block  1506  includes stating a first timer. For example, the first timer may be a timer or counter implemented by the controller  70  or a mechanical timer and the first timer expires or fires after a first predetermined period of time (e.g., approximately 1 second, approximately 5 seconds, etc. or a time based on a time it takes the transmitters  112   a - d  to emit a predetermined number of signals). Detection of the object causes the sensor assembly  102  to transition into the hyper-mode. The first timer represents a time that the sensor assembly  102  waits in the hyper-mode for the detection of an object in the sensing region  132  before transitioning back into the ready-mode. 
     The process  1500  can include block  1508  where signals are emitted with the first transmitter and with a second transmitter, such as a generally vertical transmitter and a generally horizontal transmitter. For example, the controller  70  can instruct the horizontal transmitters to emit signals. The horizontal transmitters can be the transmitters  112   a - c , which emit signals generally outward from a front surface  102   b  of the sensor assembly  102  (e.g., in front of the trashcan assembly  20 , between about 80 degrees and about 90 degrees from the top surface of the trashcan assembly  20 , such as shown in  FIG. 9D ). The vertical and horizontal transmitters can emit the signals sequentially such that no two transmitters emit a signal at the same time. At block  1508 , each transmitter may emit a single signal. In some embodiments, the horizontal transmitters, and not the vertical transmitter, emit signals. For example, in some embodiments, the receiver  114  may be configured to detect whether an object is in the sensing region  132 , which may make operation of the vertical transmitter unnecessary during certain periods. 
     As illustrated, in block  1510  a determination is made as to whether the first timer has expired. If the first timer has expired, the process  1500  reverts to block  1502  and the first timer is reset (e.g., to its value before being started). For example, if the first timer expires, this may indicate that no object was detected in the sensing region  132  (because, for example, a user inadvertently moved into the ready-mode sensing region  130   b  and/or because the user did not intend to open the lid portion  24 ). In various embodiments, when the process  1500  reverts to block  1502 , the sensor assembly  102  can transitions back into the ready-mode. 
     If the first timer has not expired, the process  1500  continues to block  1512  where a determination is made as to whether an object is detected in response to the emission of a signal by a horizontal transmitter. For example, the controller  70  determines, using information provided by the receiver  114 , whether an object is detected in the sensing region  132 . If no object is detected, the process  1500  reverts to block  1508 . For example, if no object is detected, then the transmitters  112   a - c  may continue to emit signals in an attempt to detect an object in the sensing region  132  before the first timer expires. 
     If an object is detected in block  1512 , the process  1500  continues to block  1514  where a second timer is started. For example, the second timer may be a timer or counter implemented by the controller  70  or a mechanical timer and the second timer expires or fires after a second predetermined period of time (e.g., approximately 0.5 seconds, approximately 1 second, etc. or a time based on a time it takes the transmitters  112   a - d  to emit a predetermined number of signals). Once an object is initially detected in the sensing region  132 , the controller  70  determines whether the object remains in the sensing region  132  for a period of time before causing the lid portion  24  to open. This can aid in determining whether the detected object in the sensing region  132  is fleeting. By waiting (to see that the object is detected for the second timer&#39;s period) before opening the lid portion  24 , the process  1500  can reduce the chance that the lid portion  24  will open prematurely and/or unintentionally, such as could otherwise occur when a person merely walks by the trashcan assembly  20 . In some implementations, the second timer represents the period of time that the object is to remain in the sensing region  132  before the controller  70  causes the lid portion  24  to open. 
     As illustrated, The process  1500  continues to block  1516  where signals are emitted using vertical and horizontal transmitters. As described above, the vertical and horizontal transmitters can emit the signals sequentially such that no two transmitters emit a signal at the same time. At block  1516 , each transmitter may emit a single signal. In some embodiments, the horizontal transmitters and not the vertical transmitter are emitting signals. For example, the receiver  114  may be configured to detect whether an object has remained in the sensing region  132  for a period of time and use of the vertical transmitter may not be necessary. 
     The process  1500  continues to block  1518  where a determination is made as to whether an object is detected in response to the emission of a signal by a horizontal transmitter. For example, the controller  70  determines, using information provided by the receiver  114 , whether an object is detected in the sensing region  132 . If no object is detected, the process  1500  reverts to block  1502  and the first and second timers are reset (e.g., to their respective values before being started). For example, if an object is no longer detected in the sensing region  132 , then the controller  70  may determine that the object detected in the sensing region  130   b  and/or the sensing region  132  was fleeting and/or inadvertent. As noted above, in response to the process  1500  reverting to block  1502 , the sensor assembly  102  can transition back into the ready-mode. 
     If the object continues to be detected, then the process  1500  continues to block  1520  where a determination is made as to whether the second timer has expired. If the second timer has not expired, the process  1500  reverts to block  1516 . For example, if the second timer has not expired, then the controller  70  continues to determine whether the object has remained in the sensing region  132  by causing the transmitters  112   a - c  to continue to emit signals for object detection. 
     If the second timer has expired, then the process  1500  continues to block  1522  where the lid portion  24  is opened. For example, if the second timer has expired, this indicates that the object remained in the sensing region  132  for the minimum period. Thus, the controller  70  determines that the detected object is not fleeting or inadvertent, and opens the lid portion  24 . 
     In the block  1522 , it can be determined whether or not the trashcan assembly  20  is detecting a light aberration, before the lid portion  24  is opened, such as in a manner as described above with respect to  FIG. 14 . If it is determined, in the block  1522 , that the trashcan assembly  20  is detecting a light aberration, the process  1500  can return to block  1502  and repeat without opening the lid portion  24 . On the other hand, if it is determined in block  1522  that the trashcan assembly  20  is not detecting a light aberration, the process  1500  can move on to block  1524  after opening the lid portion  24 . 
     As illustrated, the process  1500  can continue to block  1524  where signals are emitted using vertical and horizontal transmitters. As described above, the vertical and horizontal transmitters can emit the signals sequentially such that no two transmitters emit a signal at the same time. At block  1524 , each transmitter may emit a single signal. The transmitters  112   a - d  may emit signals to provide the controller  70  with information on whether to close the lid portion  24  or keep the lid portion  24  open. For example, the controller  70  can instruct that the lid portion  24  be closed if a period elapses without an object being detected in the sensing region  130  and/or the sensing region  132 . 
     Once the signals are emitted using the vertical and/or horizontal transmitters, the process  1500  continues to block  1526  where a determination is made as to whether an object is detected. If an object is detected, the process  1500  reverts to block  1524 . For example, detection of an object causes the controller  70  to determine that the lid portion  24  should remain open and that the transmitters  112   a - d  should continue to emit signals for object detection. 
     If no object is detected, then the process  1500  continues to block  1528  where a third timer is started. For example, the third timer may be a timer or counter implemented by the controller  70  or a mechanical timer and the third timer expires or fires after a third predetermined period of time e.g., approximately 1 second, approximately 5 seconds, etc. or a time based on a time it takes the transmitters  112   a - d  to emit a predetermined number of signals). In some cases, a person may temporarily leave the vicinity of the trashcan assembly  20 , but may still wish that the lid portion  24  remain open. Thus, the third timer represents a time that the controller  70  waits when no object is detected before causing the lid portion  24  to close. 
     The process  1500  can continue to block  1530  where signals are emitted using vertical and horizontal transmitters. As described above, the vertical and horizontal transmitters can emit the signals sequentially such that no two transmitters emit a signal at the same time. At block  1530 , each transmitter may emit a single signal. The transmitters  112   a - d  may emit signals to provide the controller  70  with information on whether an object has returned to the sensing region  130  or the sensing region  132  before the third timer expires. 
     Once the signals are emitted using the vertical and/or horizontal transmitters, the process  1500  continues to block  1532  where a determination is made as to whether an object is detected. If an object is detected, the process  1500  reverts to block  1524  and the third timer is reset (e.g., to its value before being started). For example, detection of an object causes the controller  70  to determine that an object has returned to the sensing region  130  or the sensing region  132 , that the lid portion  24  should remain open, and that the transmitters  112   a - d  should continue to emit signals for object detection. 
     If no object is detected, the process  1500  continues to block  1534  where a determination is made as to whether the third timer has expired. If the third timer has not expired, the process  1500  reverts to block  1530 . For example, if the third timer has not expired, then the controller  70  continues to determine whether the object has returned to the sensing region  130  or the sensing region  132  by causing the transmitters  112   a - d  to continue to emit signals for object detection. 
     If the third timer has expired, the process  1500  continues to block  1536  where the lid portion  24  is closed. For example, if the third timer expires, then the controller  70  determines that a sufficient amount of time has passed since the object was last detected and that the lid portion  24  can close. As shown, the process  1500  can revert to block  1502  and the first, second, and third timers can be reset (e.g., to their respective values before being started). In various implementations, the sensor assembly  102  can transition back into the ready-mode. 
     Dirty Lens Compensation 
     Dirt or other contaminants (e.g., dust, grease, liquid droplets, or otherwise) may be introduced onto the lens covering  104  by a user. For example, during the course of placing wet and messy refuse (e.g., coffee grounds) into the trashcan assembly  20 , some of the refuse may spill onto the lens covering  104 . The dirt or other contaminants can block signals from one or more of the transmitters  112   a - d  from reaching the sensing regions  130   b ,  132   b . Instead, the dirt or other contaminants can reflect the signals to the receiver  114 , which can lead to false positives (e.g., incorrect indications that an object is in one of the sensing regions  130 ,  132 ). The false positives can result in a delay in closing the lid portion  24  and/or in the lid portion  24  remaining in the open position. Some embodiments of the trashcan assembly  20  are configured to reduce or avoid such problems, such as by adjusting one or more parameters to account for the dirtiness of the lens covering  104 . 
     In some embodiments, the trashcan assembly  20  can include a lens calibration-mode process that detects and/or makes adjustments to account for dirt or other contaminants on the lens covering  104 . The process can be performed by an algorithm included in the controller  70 . In some embodiments, the process is the same, or similar to, the process  1300  described above in connection with the environmental calibration and  FIG. 13 . The lens calibration-mode process can include any one, or any combination, of the features of the process  1300 . For example, similar to the discussion above, the trashcan assembly  20  can detect the presence of a stationary contaminant (e.g., dirt) on the lens covering  104  and can make adjustments (e.g., to sensing thresholds) to compensate for the contaminant. 
     In some embodiments, the lens calibration-mode process begins with periodically conducting a scan, such as a scan of the lens cover  104 . This scan can occur with or without user initiation or interaction. For example, in an automatic calibration mode, at a set time interval (e.g., once an hour, once a day, once a week, etc.), the controller  70  may send a command to begin the lens calibration-mode. The automatic periodic scan permits the trashcan assembly  20  to continuously and/or automatically monitor the ability of signals to pass through the lens covering  104  and to update sensing thresholds accordingly. In some embodiments, the controller  70  can include an algorithm configured to send a command initiating the lens calibration-mode based on user input. For example, the trashcan assembly  20  may include a button that a user may operate to manually activate the lens calibration-mode, such as during or after adding refuse into the trashcan assembly  20 . In some embodiments, the controller  70  is configured to automatically send a command to start the lens calibration-mode in response to a user manually moving the lid (e.g., to open or close it). For example, if the lid is improperly remaining open due to dirt on the lens cover  104 , a user may manually close the lid, which can automatically trigger the lens calibration-mode. 
     As mentioned above, in a normal (e.g., clean) state of the lens covering  104 , the signals emitted from the transmitters  112   a - d  can pass through the lens cover  104 , be reflected off an object in one of the sensing regions  130 ,  132 , and be received by the receiver  114 . However, when the lens covering  104  is dirty, the contaminants on the lens cover  104  can block the passage of some or all of the signals, such as those signals attempting to pass through a particular portion of the lens covering  104 . Such blocked signals can be reflected off the contaminants and received by the receiver  114 , thereby providing a false positive of an object being in one of the sensing regions  130 ,  132 . 
     Various embodiments include determining whether an object-detection event is a false positive. For example, some embodiments make such a determination using a proximity measurement in one or more sensing regions of the trashcan assembly  20 . The proximity measurement, which represents the distance between the trashcan assembly  20  and a detected object, can be determined in various ways. For example, the proximity measurement can be determined based at least in part on the time difference between the signal being emitted and received. In some embodiments, if the proximity measurement is less than a certain amount (e.g., less than 0.5 inch), the trashcan assembly  20  determines that the detected object is a false positive, such as because of a contaminant on the lens cover  104 . In certain implementations, an object-detection event is determined to be a false positive if the object-detection event is consistently occurring (e.g., constantly occurring) in portion of at least one of the sensing regions  130 ,  132 , as may be the case for a contaminant on the lens covering  104 . In some embodiments, an object-detection event is determined to be a false positive if the controller  70  determines that the detected object is stationary or generally stationary in the one of the sensing regions  130 ,  132  for at least a certain period (e.g., at least about 1 minute), such as may be the case for a contaminant on the lens covering  104 . 
     In some embodiments, the controller  70  takes a corrective action in response to an object-detection event being determined to be a false positive. For example, the controller  70  can filter-out and/or disregard the erroneous object-detection event. This can facilitate normal operation of the lid portion  24 , such as allowing the lid portion  24  to close. In some variants, if the object-detection event is determined not to be a false positive (e.g., to be moving in one of the sensing regions  130 ,  132  or otherwise not indicative of a contaminant on the lens covering  104 ), the trashcan assembly  20  processes the object-detection event in the logic for movement of the lid portion  24  or otherwise, as is described above. 
     Voice Activation 
     In some embodiments, the trashcan assembly  20  can actuate one or more features of the trashcan assembly  20 , such as opening and/or closing the lid portion  24 , using an audio sensor, such as an audio sensor configured to sense one or more voice commands or other sounds (e.g., clapping, snapping, or otherwise) received from a user. In some embodiments, the audio sensor can be the only sensor utilized to actuate the trashcan assembly  20 , or the audio sensor can be used with one or more other sensors, such as one or more movement or proximity detectors (e.g., as described anywhere in this specification). Regarding the audio sensor, the memory in the controller  70  can store data representing one or more keywords or sounds. A keyword or sound (also referred to herein as a wake word or a code word) may be a word that is associated with a particular action or state of the trashcan assembly  20 . When the trashcan assembly  20  detects a particular keyword or sound, the trashcan assembly  20  can take a corresponding action (e.g., open the lid portion  24 , close the lid portion  24 , maintain the lid in an open position, etc.) and/or transition to a corresponding state (e.g., transition to a stay-open mode or transition to a stay-closed mode, which are described in greater detail below). 
     The backside enclosure  56 , the sensor assembly  102 , and/or any other portion of the trashcan assembly  20  can include a microphone. For example, the microphone can be disposed on a generally outer portion of the trashcan assembly  20  (e.g., the rear wall  28 , the front wall  30 , etc.). In some embodiments, at least a portion of the microphone is exposed to the trashcan exterior. In other embodiments, the microphone is not exposed to the trashcan exterior and a hard or soft grill can be coupled with the microphone to protect the microphone while still allowing sound to pass from the trashcan exterior to the microphone. The microphone may capture sound, such as an utterance spoken by or a sound made by a user. Once captured, the microphone can transform the sound into an electrical audio signal that represents the captured sound and transmit the electrical audio signal to the controller  70 . 
     Using instructions and/or algorithms stored in the memory, one or more of the processors of the controller  70  can perform speech recognition on the received electrical audio signal to identify any words that may have been spoken. The processor can then compare the identified words with the one or more keywords (e.g., using the data representing one or more keywords stored in the memory) to determine if there are any matches. Thus, the processor can perform a comparison of the captured audio with known keywords to determine whether a user said any of the known keywords. 
     If an identified word does not match a keyword, the controller  70  takes no action. If an identified word matches a keyword, the controller  70  can then perform an action and/or transition to a state associated with the keyword. For example, if the processor determines that the user said a keyword or made a sound associated with the opening of the lid portion  24  (e.g., “OPEN LID” or “OPEN TRASHCAN,” etc.), the controller  70  can cause the motor  78  to move the lid portion  24  to the open position. Likewise, if the processor determines that the user said a keyword or made a sound associated with the closing of the lid portion  24  (e.g., “CLOSE LID” or “CLOSE TRASHCAN,” etc.), the controller  70  can cause the motor  78  to move the lid portion  24  to the closed position. As another example, if the processor determines that the user said a keyword or made a sound associated with a desire to keep the lid portion  24  open for an extended period (e.g., “STAY OPEN” or “TASK MODE,” etc.), the controller  70  can cause the motor  78  to move the lid portion  24  to the open position (if the lid portion  24  is closed) or not cause the motor  78  to move the lid portion  24  to the closed position even if no object is detected by the components of the sensor assembly  102  for an extended period or indefinitely. In some embodiments, the extended period can be at least about 20 seconds or at least about 30 seconds or at least about one minute, etc.). Likewise, if the processor determines that the user said a keyword or made a sound associated with a desire to keep the lid portion  24  closed for an extended period (e.g., “STAY CLOSED” or “CLOSED MODE,” etc.), such as to avoid unintentionally triggering the opening of the trashcan assembly  20  when someone is working around or otherwise near the trashcan assembly  20  for some other reason besides depositing trash, the controller  70  can cause the motor  78  to move the lid portion  24  to the closed position (if the lid portion  24  is open) or not cause the motor  78  to move the lid portion  24  to the open position even if an object is detected by the components of the sensor assembly  102  for an extended period. In some embodiments, the lid portion  24  may remain open or closed until a repeated or different keyword is uttered or sound is made (e.g., a keyword associated with the closing or opening of the lid portion  24 ), until a predetermined period of time has passed (e.g., at least about 1 minute, at least about 5 minutes, etc.), and/or the like. It is contemplated that any type of location detection or motion detection or sound detection, including any of those that are disclosed in this specification, or any combination of such modes of detection, can be used by the electronic controller of the trashcan assembly  20  to actuate any function described in this specification. 
     In some embodiments, the keywords recognized by the trashcan assembly  20  are preset. For example, the data representing the keywords can be stored in the memory during assembly and/or manufacture of the trashcan assembly  20 . 
     In some embodiments, the keywords recognized by the trashcan assembly  20  are user-defined. For example, the trashcan assembly  20  can include a button, switch, or other such user input component that, when enabled, causes the trashcan assembly  20  to enter a training mode. In the training mode, a display or screen of the trashcan assembly  20  can identify an action or state of the trashcan assembly  20  and prompt a user to say a keyword that will then be associated with the action or state. The microphone can capture the keyword uttered by the user and transmit the representative electrical audio signal to the controller  70 . The controller  70  can perform speech recognition on the electrical audio signal to generate data representing the uttered keyword and the generated data can be stored in memory for later use. The trashcan assembly  20  can repeat this process for any number of actions or states that can be associated with a keyword. In addition, the trashcan assembly  20  can repeat this process for multiple users. Different users may say the same word in different ways (e.g., with different accents, intonations, inflections, pitch, rate, rhythm, etc.) and so it may be useful to store varied pronunciations of a single keyword to improve the accuracy of the speech recognition and thus the actions performed by the trashcan assembly  20 . The memory can store one or more pronunciations for a single keyword and any number of these pronunciations can be compared with the identified words during the speech recognition process. 
     In some embodiments, the trashcan assembly  20  can include wireless communication components that allow the trashcan assembly  20  to receive keyword information wirelessly from a user device. The wireless communication components can include an antenna, a transceiver coupled with the antenna, and related circuitry. The antenna can be disposed on a generally outer portion of the trashcan assembly  20  (e.g., the rear wall  28 , the front wall  30 , the sensor assembly  102 , the backside enclosure  56 , etc.). In some embodiments, at least a portion of the antenna is exposed to the trashcan exterior. The antenna may be positioned in a manner that avoids signal interference when the lid portion  24  changes positions. The antenna can transmit signals received from the transceiver and receive signals transmitted by the user device. The antenna forwards signals received from the user device to the transceiver. 
     The transceiver can be located anywhere within the interior of the trashcan assembly. For example, the transceiver can be a chip included within the controller  70 . The transceiver can package data for transmission over the antenna and unpackage data received by the antenna. The transceiver may be able to communicate over a variety of networks, such as a cellular network, a network using the IEEE 802.11 protocol (e.g., Wi-Fi), a network using the Bluetooth® protocol, and/or the like. The transceiver can forward unpackaged data to the controller  70  for processing and/or storage. 
     A user device can be any electronic device. For example, a user device can include a wide variety of computing devices, including personal computing devices, terminal computing devices, laptop computing devices, tablet computing devices, electronic reader devices, mobile devices (e.g., mobile phones, media players, handheld gaming devices, etc.), wearable devices with network access and program execution capabilities (e.g., “smart watches” or “smart eyewear”), wireless devices, home automation devices (e.g., “smart thermostats” or “smart meters”), set-top boxes, gaming consoles, entertainment systems, televisions with network access and program execution capabilities (e.g., “smart TVs”), and various other electronic devices and appliances. The user device can be equipped with software or an “app” that is configured to enable the user device and/or the trashcan assembly  20  to perform any of the functions, tasks and/or steps described and/or illustrated herein. 
     For example, using the app, a user can establish a connection between the user device and the trashcan assembly  20  (e.g., via communications that pass through the wireless communication components). The app can then be used to train the trashcan assembly  20 . The app can generate a user interface for display on the screen of the user device that identifies an action or state of the trashcan assembly  20  and that prompts a user to say a keyword that will then be associated with the action or state. In some embodiments, a microphone of the user device captures the keyword uttered by the user and the user device performs speech recognition to generate data representing the uttered keyword. The generated data is then transmitted to the controller  70 , via the antenna, the transceiver, and/or the related circuitry, for storage in the memory. The generated data can also be stored locally on the user device (e.g., by storing the generated data locally, the user device can be used to program multiple trashcan assemblies  20  without having the user repeat the training process). In some embodiments, a microphone of the user device captures the keyword uttered by the user and the representative electrical audio signal is transmitted to the controller  70  via the antenna, the transceiver, and/or the related circuitry. The representative electrical audio signal can also be stored locally on the user device to, for example, allow the user to program multiple trashcan assemblies  20  without having to repeat the training process. The controller  70  then performs speech recognition to generate data representing the uttered keyword and stores the generated data in the memory. The app can repeat this process for any number of actions or states that can be associated with a keyword. In addition, the app can repeat this process for multiple users. As described above, different users may say the same word in different ways (e.g., with different accents, intonations, inflections, pitch, rate, rhythm, etc.) and so it may be useful to store varied pronunciations of a single keyword to improve the accuracy of the speech recognition and thus the actions performed by the trashcan assembly  20 . The memory can store one or more pronunciations for a single keyword and any number of these pronunciations can be compared with the identified words during the speech recognition process. 
     In some embodiments, the wireless communication components can also be used to obtain keyword data from an informational source (e.g., the Internet, a home system, etc.). The keyword data can be stored in the memory for later use. 
     In certain embodiments, the voice recognition capability and the object detection capability of the trashcan assembly  20  can work in conjunction to determine when to actuate one or more functions of the trashcan assembly  20 , such as when to close and/or open the lid portion  24 . For example,  FIG. 19  illustrates an example algorithm process  1900  of controlling the position of the lid portion  24 . The process  1900  may be performed by controller  70  of trashcan assembly  20 , as described above. The method can be implemented, in part or entirely, by a software module of the controller  70  (e.g., by the lid position controller) or implemented elsewhere in the trashcan assembly  20 , for example by one or more processors executing logic in controller  70 . In some embodiments, controller  70  includes one or more processors in electronic communication with at least one computer-readable memory storing instructions to be executed by the at least one processor of controller  70 , where the instructions cause the trashcan assembly  20  to implement the process  1900 . The process  1900  starts at block  1902 . 
     As illustrated, the process  1900  moves to block  1904  where a signal is emitted using a first transmitter, such as the transmitter  112   d  (e.g., a generally vertical transmitter). In some embodiments, in block  1904 , the trashcan assembly  20  is in the ready-mode state, as discussed above. In some embodiments, the transmitter  112   d  is configured to emit a signal generally upward from an upper surface  102   a  of the sensor assembly  102  (e.g., on top of the trashcan assembly  20 , between about 0 and about 10 degrees from the top surface of the trashcan assembly  20 , such as shown in  FIGS. 9C and 9D ). In some embodiments, the transmitters  112   a - c  are not emitting signals in block  1904 . 
     As shown, the process  1900  can include block  1906  where a determination is made as to whether an object is detected, such as in the region  130   b . For example, the receiver  114  can determine whether a reflected signal is detected in response to the signal emitted by the transmitter  112   d  (and provides such indication to the controller  70 ), which may indicate that an object is in the sensing region  130   b . If no object is detected, the process  1900  moves to block  1908 . However, if an object is detected, the process  1900  continues to block  1910 . 
     At block  1908 , a determination is made as to whether the lid portion  24  is open. For example, even though no object is detected, the lid portion  24  may still be open if the user uttered a keyword associated with the opening of the lid portion  24 . If the lid is closed, the process  1900  moves to block  1920 . Otherwise, the process  1900  moves to block  1918  to close the lid portion  24  and then proceeds to block  1920 . 
     As illustrated, a determination is made as to whether the lid portion  24  is closed at block  1910 . For example, as described above, the lid portion  24  may be open even before an object is detected in both the sensing regions  130  and  132  if the user uttered a keyword that caused the lid portion  24  to open. If the lid portion  24  is closed, the process  1900  moves to block  1912  to open the lid portion  24  and then proceeds to block  1914 . For example, in response to an object being detected in the region  130   b , the controller  70  can send a signal to a motor to open the lid portion  24 . However, if the lid portion  24  is already open, the process  1900  proceeds directly to block  1914 . 
     In the block  1912 , it can be determined whether or not the trashcan assembly  20  is being used in a bright environment, such as ambient sunlight, before the lid portion  24  is opened in a manner as described above with respect to  FIG. 14 . If it is determined, in the block  1912 , that the trashcan assembly  20  is in a bright environment, the process  1900  can return to block  1904  and repeat without opening the lid portion  24 . On the other hand, if it is determined in block  1912  that the trashcan assembly  20  is not in a bright environment, the process  1900  can move on to block  1914  after opening the lid portion  24 . 
     In some embodiments, the process  1900  moves to block  1914 , which can include producing first and second sensing regions  130 ,  132  (e.g., generally vertical and generally horizontal sensing regions). For example, transmitter  112   d  can continue to produce the sensing region  130  and the transmitters  112   a - c  can produce the second sensing region  132 . In certain embodiments, block  1914  includes beginning to emit signals from the transmitters  112   a - c . In some implementations, in block  1914 , the trashcan assembly  20  can enter the hyper-mode, as discussed above. For example, the sensing extent of the first sensing region  130  can be increased, as discussed above. 
     As illustrated, the process  1900  can include block  1916  where a determination is made as to whether a further object-detection event has occurred. For example, the trashcan assembly  20  can determine whether an object has been detected in at least one of the sensing regions  130 ,  132 . If a further object-detection event has occurred, the process  1900  can revert to block  1914 , in which the first and second sensing regions  130 ,  132  are produced. 
     If no further object-detection event has occurred, the process  1900  can continue to block  1918 . In some embodiments, the process  1900  includes a timer or delay before moving to block  1918 . For example, the process  1900  can include determining that no further object-detection event has occurred for at least a predetermined amount of time, such as at least about: 1, 2, 3, or 4 seconds. This can enable a user to briefly leave the sensing regions  130 ,  132  without the process  1900  continuing to block  1918 . 
     As described above, block  1918  includes closing the lid portion  24  and/or reverting to the ready-mode. For example, the controller  70  can send a signal to a motor to close the lid portion  24 . In certain implementations, block  1918  includes reducing the extent of the first sensing region  130  and/or reducing or eliminating the range of the second sensing region  132 . In some embodiments, block  1918  includes reducing or ceasing operation of the transmitters  112   a - c.    
     In some embodiments, the process  1900  moves to block  1920  where a determination is made as to whether a first voice command is detected. For example, the first voice command can be a keyword or wake word that is associated with the opening of the lid portion  24 . The controller  70  can perform speech recognition on an utterance made by a user to determine whether the utterance corresponds to the first voice command. If the first voice command is detected, the process  1900  moves to block  1922  to open the lid portion  24  as verbally instructed by the user. However if the first voice command is not detected, the process  1900  reverts to block  1904 . Thus, voice recognition can be used to open the lid portion  24  even when no object is detected within the sensing region  130  and/or the sensing region  132 . 
     In the block  1922 , it can be determined whether or not the trashcan assembly  20  is being used in a bright environment, such as ambient sunlight, before the lid portion  24  is opened in a manner as described above with respect to  FIG. 14 . If it is determined, in the block  1922 , that the trashcan assembly  20  is in a bright environment, the process  1900  can return to block  1904  and repeat without opening the lid portion  24 . On the other hand, if it is determined in block  1922  that the trashcan assembly  20  is not in a bright environment, the process  1900  can move to block  1904  after opening the lid portion  24 . 
     While the process  1900  is described herein with respect to a keyword associated with the opening of the lid portion  24 , this is not meant to be limiting. Any keyword associated with any action or state can be used in conjunction with the object detection capabilities of the sensor assembly  102  in a similar manner to open and/or close the lid portion  24 . In the decision block  256 , it can be determined whether or not the trash can  20  is being used in a bright environment, such as ambient sunlight. For example, the micro controller  110  can be configured to determine whether or not the light receiver(s)  94  are receiving light signals substantially continuously. For example, if the light receiver(s)  94  receive signals over a time period of 800 microseconds and have more than about ten to twelve dropouts during that time period, it can be assumed that the trash can  20  is being exposed to bright ambient light such as sunlight. As such, the micro controller  110  can be configured to avoid analyzing the output of the light receiver(s)  94 . If it is determined, in the decision block  256 , that the trash can  20  is in a bright environment, the control routine  250  can return to operation block  252  and repeat. On the other hand, if it is determined in decision block  256  that the trash can  20  is not in a bright environment, the control routine  250  can move on to operation block  258 . 
     While the disclosure provided herein is directed to trashcan assemblies, this is not meant to be limiting. For example, the features, structures, methods, techniques, and other aspects described herein can be implemented in a hamper, crate, box, basket, drum, can, bottle, jar, barrel, or any other container or receptacle that may include a movable lid. 
     Terminology and Summary 
     Although the trashcan assemblies have been disclosed in the context of certain embodiments and examples, it will be understood by those skilled in the art that the present disclosure extends beyond the specifically disclosed embodiments to other alternative embodiments and/or uses of the trashcans and obvious modifications and equivalents thereof. In addition, while several variations of the trashcans have been shown and described in detail, other modifications, which are within the scope of the present disclosure, will be readily apparent to those of skill in the art. For example, a gear assembly and/or alternate torque transmission components can be included. For instance, in some embodiments, the trashcan assembly  20  includes a gear assembly. Some embodiment of the gear assembly include a gear reduction (e.g., greater than or equal to about 1:5, 1:10, 1:50, values in between, or any other gear reduction that would provide the desired characteristics), which can modify the rotational speed applied to the shaft  80 , clutch member  84 , and/or other components. Some embodiments are discussed above interacting with an object. The object can be a person&#39;s body or a portion thereof, something a person is wearing, holding, or manipulating, an article of the environment (e.g., furniture), or otherwise. 
     For expository purposes, the term “lateral” as used herein is defined as a plane generally parallel to the plane or surface of the floor of the area in which the device being described is used or the method being described is performed, regardless of its orientation. The term “floor” floor can be interchanged with the term “ground.” The term “vertical” refers to a direction perpendicular to the lateral as just defined. Terms such as “above,” “below,” “bottom,” “top,” “side,” “higher,” “lower,” “upper,” “upward,” “over,” and “under,” are defined with respect to the horizontal plane. 
     Conditional language, such as “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments include, while other embodiments do not include, certain features, elements, and/or steps. Thus, such conditional language is not generally intended to imply that features, elements, and/or steps are in any way required for one or more embodiments. 
     The terms “approximately,” “about,” and “substantially” as used herein represent an amount close to the stated amount that still performs a desired function or achieves a desired result. For example, in some embodiments, as the context may dictate, the terms “approximately”, “about”, and “substantially” may refer to an amount that is within less than or equal to 10% of the stated amount. The term “generally” as used herein represents a value, amount, or characteristic that predominantly includes or tends toward a particular value, amount, or characteristic. As an example, in certain embodiments, as the context may dictate, the term “generally perpendicular” can refer to something that departs from exactly perpendicular by less than or equal to 20 degrees. 
     Although certain embodiments and examples have been described herein, it will be understood by those skilled in the art that many aspects of the receptacles shown and described in the present disclosure may be differently combined and/or modified to form still further embodiments or acceptable examples. All such modifications and variations are intended to be included herein within the scope of this disclosure. A wide variety of designs and approaches are possible. No feature, structure, or step disclosed herein is essential or indispensable. 
     Any of the methods and tasks described herein may be performed and fully automated by a computer system. The computer system may, in some cases, include multiple distinct computers or computing devices. Each such computing device typically includes a processor (or multiple processors) that executes program instructions or modules stored in a memory or other non-transitory computer-readable storage medium or device (e.g., solid state storage devices, disk drives, etc.). The various functions disclosed herein may be embodied in such program instructions, and/or may be implemented in application-specific circuitry (e.g., ASICs or FPGAs) of the computer system. Where the computer system includes multiple computing devices, these devices may, but need not, be co-located. The results of the disclosed methods and tasks may be persistently stored by transforming physical storage devices, such as solid state memory chips and/or magnetic disks, into a different state. 
     Depending on the embodiment, certain acts, events, or functions of any of the processes or algorithms described herein can be performed in a different sequence, can be added, merged, or left out altogether (e.g., not all described operations or events are necessary for the practice of the algorithm). Moreover, in certain embodiments, operations or events can be performed concurrently, e.g., through multi-threaded processing, interrupt processing, or multiple processors or processor cores or on other parallel architectures, rather than sequentially. 
     The various illustrative logical blocks, modules, routines, and algorithm steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware (e.g., ASICs or FPGA devices), computer software that runs on general purpose computer hardware, or combinations of both. To illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as specialized hardware versus software running on general-purpose hardware depends upon the particular application and design constraints imposed on the overall system. The described functionality can be implemented in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the disclosure. 
     Moreover, the various illustrative logical blocks and modules described in connection with the embodiments disclosed herein can be implemented or performed by a machine, such as a general purpose processor device, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor device can be a microprocessor, but in the alternative, the processor device can be a controller, microcontroller, or state machine, combinations of the same, or the like. A processor device can include electrical circuitry configured to process computer-executable instructions. In another embodiment, a processor device includes an FPGA or other programmable device that performs logic operations without processing computer-executable instructions. A processor device can also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. Although described herein primarily with respect to digital technology, a processor device may also include primarily analog components. For example, some or all of the algorithms executed by the controller  70  and described herein may be implemented in analog circuitry or mixed analog and digital circuitry. A computing environment can include any type of computer system, including, but not limited to, a computer system based on a microprocessor, a mainframe computer, a digital signal processor, a portable computing device, a device controller, or a computational engine within an appliance, to name a few. 
     The elements of a method, process, routine, or algorithm described in connection with the embodiments disclosed herein can be embodied directly in hardware, in a software module executed by a processor device, or in a combination of the two. A software module can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of a non-transitory computer-readable storage medium. An example storage medium can be coupled to the processor device such that the processor device can read information from, and write information to, the storage medium. In the alternative, the storage medium can be integral to the processor device. The processor device and the storage medium can reside in an ASIC. The ASIC can reside in a trashcan assembly. In the alternative, the processor device and the storage medium can reside as discrete components in a trashcan assembly. 
     Some embodiments have been described in connection with the accompanying drawings. The figures are drawn to scale, but such scale should not be interpreted as limiting. Distances, angles, etc. are merely illustrative and do not necessarily bear an exact relationship to actual dimensions and layout of the devices illustrated. Components can be added, removed, and/or rearranged. Further, the disclosure herein of any particular feature, aspect, method, property, characteristic, quality, attribute, element, or the like in connection with various embodiments can be used in all other embodiments set forth herein. Additionally, it will be recognized that any methods described herein may be practiced using any device suitable for performing the recited steps. 
     For purposes of this disclosure, certain aspects, advantages, and novel features are described herein. It is to be understood that not necessarily all such advantages may be achieved in accordance with any particular embodiment. Thus, for example, those skilled in the art will recognize that the disclosure may be embodied or carried out in a manner that achieves one advantage or a group of advantages as taught herein without necessarily achieving other advantages as may be taught or suggested herein. 
     Moreover, while illustrative embodiments have been described herein, the scope of any and all embodiments having equivalent elements, modifications, omissions, combinations (e.g., of aspects across various embodiments), adaptations and/or alterations as would be appreciated by those in the art based on the present disclosure. The limitations in the claims are to be interpreted broadly based on the language employed in the claims and not limited to the examples described in the present specification or during the prosecution of the application, which examples are to be construed as non-exclusive. Further, the actions of the disclosed processes and methods may be modified in any manner, including by reordering actions and/or inserting additional actions and/or deleting actions. It is intended, therefore, that the specification and examples be considered as illustrative only, with a true scope and spirit being indicated by the claims and their full scope of equivalents.