Automatic control of a refuse front end loader
An automatic control system for a refuse vehicle includes a mode select switch disposed within the vehicle that generates a mode select signal based on input from an operator of the vehicle, a control mechanism disposed within the vehicle that operates in response to the mode select signal, and a plurality of sensors adapted to sense a plurality of characteristics of the vehicle and adapted to communicate the plurality of sensed characteristics. The system further includes a control module that receives control instructions from the control mechanism and selectively controls at least one component of a plurality of components of the vehicle based on the mode select signal, at least one of the plurality of sensed characteristics, and the control instructions.
1. A refuse vehicle, comprising:
a container coupled to a chassis of the refuse vehicle;
a lift coupled to the container, the lift comprising an arm assembly configured to engage a refuse receptacle;
a plurality of sensors configured to monitor the lift and output sensed data;
a multi-mode operator-actuated controller;
an automatic control system comprising a processor configured to execute instructions stored in memory to:
based on a state of the multi-mode operator-actuated controller and at least a portion of the sensed data, instruct the lift to execute a dump cycle to dump refuse from the refuse receptacle into the container; and
an operator interface unit configured to display an operating mode of the operator-actuated controller and a state of the lift based on at least a portion of the sensed data,
wherein the plurality of sensors comprises an arm position sensor attached to the arm assembly of the lift and an obstruction sensor configured to detect a presence of an object within a distance from the arm assembly of the lift,
wherein the sensed data comprises: i) a value from the arm position sensor indicative of a position of the arm assembly, and ii) a signal indicative of the distance between the object and the arm assembly of the lift, and
wherein the processor of the automatic control system is further configured to execute instructions stored in memory to:
i) determine whether the object obstructs an operation of the lift based on the value from the arm position sensor, and
ii) modify one or more functions of the lift based on the values from the arm position sensor and the obstruction sensor.
2. The refuse vehicle of claim 1 , wherein the refuse vehicle defines a forward direction of travel, and wherein the container resides on the chassis of the refuse vehicle behind an operator cab of the refuse vehicle.
3. The refuse vehicle of claim 2 , wherein the arm assembly comprises a front-loading arm assembly extending from behind the operator cab to in front of the operator cab, and wherein the refuse receptacle comprises a carry can supporting a loader arm.
4. The refuse vehicle of claim 3 , wherein the front-loading arm comprises a fork mechanism engaging the front-loading arm to the carry can.
5. The refuse vehicle of claim 4 , wherein the processor of the automatic control system is further configured to execute instructions stored in memory to:
i) determine whether the object obstructs an operation of the fork mechanism based on the value from the obstruction sensor, and
ii) modify one or more functions of the fork mechanism based on the value from the obstruction sensor.
6. The refuse vehicle of claim 2 , wherein the arm assembly comprises a side-loading arm assembly residing behind the operator cab.
7. The refuse vehicle of claim 1 , wherein the multi-mode operator-actuated controller comprises a joystick controller.
8. The refuse vehicle of claim 7 , wherein the state of the multi-mode operator-actuated controller comprises an auto-lift mode and actuation of the joystick controller along an axis.
9. The refuse vehicle of claim 1 , wherein the processor of the automatic control system is further configured to execute instructions stored in memory to generate an alarm in response to a determination based on the value from the arm position sensor that the refuse vehicle height is greater than a predetermined threshold height.
10. The refuse vehicle of claim 9 , wherein the operator interface unit is configured to display an indicator corresponding to the alarm.
11. The refuse vehicle of claim 1 , wherein the processor of the automatic control system is further configured to execute instructions stored in memory to decelerate movement of the lift during the dump cycle based on the value from the arm position sensor.
12. The refuse vehicle of claim 1 , wherein the plurality of sensors comprises a weight sensor attached to the arm assembly of the lift.
13. The refuse vehicle of claim 12 , wherein the weight sensor comprises at least one of a load cell or a strain gauge.
14. The refuse vehicle of claim 1 , wherein the obstruction sensor is an overhead obstruction sensor configured to sense a space above the refuse vehicle and to sense a distance between (i) the refuse vehicle and (ii) objects within the space that are external to the refuse vehicle.
15. The refuse vehicle of claim 14 , wherein the processor of the automatic control system is further configured to execute instructions stored in memory to inhibit one or more functions of the lift in response to a determination that the distance is less than a predetermined threshold distance.
16. The refuse vehicle of claim 1 , wherein the processor of the automatic control system is further configured to instruct the lift based on vehicle data comprising a road speed.
17. The refuse vehicle of claim 16 , wherein the processor of the automatic control system is configured to:
determine that the road speed is below a predetermined threshold speed and responsively return the lift to a stored position; and
determine that the road speed is above a predetermined threshold speed and responsively inhibit one or more functions of the lift.
18. The refuse vehicle of claim 1 , wherein the processor of the automatic control system is further configured to execute instructions stored in memory to generate an alarm in response to a determination based on the value from the obstruction sensor that the object obstructs the operation of the lift.
19. The refuse vehicle of claim 1 , wherein the value from the arm position sensor is a measured angle.
20. The refuse vehicle of claim 1 , wherein the processor of the automatic control system is further configured to execute instructions stored in memory to:
i) determine whether the object obstructs an operation of a tailgate of the refuse vehicle based on the value from the obstruction sensor, and
ii) generate an alarm in response to a determination based on the value from the obstruction sensor that the object obstructs the operation of the tailgate.