Granted Patent B2

US 12,700,234 · App. 18/734,445 · Granted Aug 4, 2026

Inventors: Grant Wildgrube (Faribault, MN); Zhenyi Wei (Oshkosh, WI); Cody D. Clifton (Oshkosh, WI)

Assignee: Oshkosh Corporation

G06V20/20B65F3/041G06V20/58G06T2207/10016

Abstract

Claims (25)

1 . A vehicle, comprising:

a chassis;

a body coupled to the chassis;

a lift assembly coupled to the body;

a collection arm assembly coupled to the lift assembly and including a lift arm actuator and a pair of interface members configured to engage an object, wherein the lift assembly is configured to raise and lower the pair of interface members relative to the body;

a position sensor coupled to the lift arm actuator and configured to measure a length of the lift arm actuator;

an object detection system configured to provide object detection data; and

a controller configured to:

receive an indication, based on the object detection data, that the object is within an aligned zone relative to the body;

determine an orientation of the pair of interface members relative to the body based on the length of the lift arm actuator measured by the position sensor;

provide instructions on a display that, when performed, result in:

the lift assembly moving so that the pair of interface members are aligned to engage the object, and

the collection arm assembly actuating and engaging the pair of interface members with the object; and

instruct a display to provide real-time monitoring of a progression through the instructions.

2 . The vehicle of claim 1 , wherein the chassis extends longitudinally, wherein the aligned zone includes a plurality of longitudinal locations that are longitudinally offset from one another, and wherein the controller is configured to determine that the object is not present within the aligned zone if the object is longitudinally forward or behind the aligned zone.

3 . The vehicle of claim 2 , wherein the aligned zone includes a plurality of lateral locations that are laterally offset from one another, and wherein the controller is configured to determine that the object is not present within the aligned zone if the object is laterally outside the aligned zone.

4 . The vehicle of claim 1 , wherein the controller is configured to use the object detection data to determine if the object is present within an intermediate zone relative to the body, the intermediate zone being adjacent to the aligned zone and representing a range of locations in which the pair of interface members cannot engage the object.

5 . The vehicle of claim 4 , wherein, in response to a determination that the object is within the intermediate zone, the controller is configured to provide an indication that the object is within the intermediate zone.

6 . The vehicle of claim 1 , wherein the controller is further configured to provide instructions that, when performed, result in:

the lift assembly raising the object relative to the body;

after the object is raised relative to the body, the lift assembly lowering the object relative to the body; and

the pair of interface members disengaging the object at an initial location at which the object was initially engaged by the pair of interface members.

7 . The vehicle of claim 1 , further comprising a location sensor operatively coupled to the controller and configured to provide data relating to at least one of a position and an orientation of the collection arm assembly, and wherein the controller is configured to use the data from the location sensor to autonomously control the pair of interface members to engage the object.

8 . The vehicle of claim 1 , wherein the controller is configured to use the object detection data to determine a location of an obstacle relative to the collection arm assembly, and wherein the controller is configured to limit movement of the pair of interface members based on a distance between the pair of interface members and the obstacle.

9 . The vehicle of claim 1 , further comprising a load sensor configured to provide load data related to a load supported by the lift assembly, and wherein the controller is configured to use the load data to determine a weight of the object.

Assignments (1)

Continuity (6)

References Cited (400)