Refuse Collection Vehicle with Telescoping Arm
A refuse collection vehicle has a container collection arm with a telescoping boom coupled with a refuse stowage unit of the vehicle. A grasping mechanism is coupled with an end of the boom. A rotary actuator couples the grasping mechanism with the boom to enable a waste container to be moved between a pick up position and a dump position.
1 . (canceled)
2 . A refuse collection vehicle defining a forward direction of travel and a rearward direction of travel on a ground surface, the refuse collection vehicle comprising:
a chassis;
a hopper supported on the chassis; and
an arm configured to grasp a container from a location above or below a grade of the ground surface on only one side of the refuse collection vehicle and to dump contents of the container into the hopper, the arm comprising:
a grabber;
a telescopic reach constrained to movement along a plane in a transverse direction relative to the forward and rearward directions of travel, the telescopic reach residing beneath the hopper and configured to telescopically extend and retract the grabber relative to both the hopper and a chassis of the refuse collection vehicle;
a track configured to guide the grabber upward relative to the hopper toward a dump position as the grabber grasps the container and when the telescopic reach is in a retracted position; and
at least one actuator coupled to a distal end of the telescopic reach, the actuator configured to rotate the grabber relative to the grade of the ground surface about an axis parallel to the forward and rearward directions of travel.
3 . The refuse collection vehicle of claim 2 , wherein the actuator comprises a rotary actuator.
4 . The refuse collection vehicle of claim 2 , wherein the actuator comprises a hydraulic actuator.
5 . The refuse collection vehicle of claim 2 , wherein the actuator is configured to shake the container when the grabber is in the dump position.
6 . The refuse collection vehicle of claim 2 , wherein the grabber comprises a pair of movable fingers configured to converge and grasp the container.
7 . The refuse collection vehicle of claim 6 , further comprising at least one sensor and a controller, the controller configured to determine, based on data received from the sensor, the position of the pair of movable fingers relative to the container.
8 . The refuse collection vehicle of claim 6 , further comprising at least one sensor and a controller, the controller configured to determine, based on data received from the sensor, a weight of the container.
9 . The refuse collection vehicle of claim 8 , wherein the at least one sensor comprises at least one of a pressure sensor, a positioning sensor, or a load cell.
10 . The refuse collection vehicle of claim 2 , wherein the grabber is secured to the distal end of the telescopic reach via the actuator.
11 . The refuse collection vehicle of claim 2 , further comprising a camera mounted onto a top edge of the hopper, the camera configured to provide a view of the container when contents are dumped from the container into the hopper.
12 . The refuse collection vehicle of claim 11 , further comprising a light source mounted on the top edge of the hopper and adjacent to the camera.
13 . A refuse collection vehicle defining a forward direction of travel and a rearward direction of travel on a ground surface, the refuse collection vehicle comprising:
a chassis;
a hopper positioned on the chassis; and
an arm configured to grasp a container from only one side of the refuse collection vehicle and to dump contents of the container into the hopper, the arm comprising:
a grabber movable between a lowered position and a dump position;
a vertical post configured to support the grabber in the lowered position;
a telescopic reach comprising constrained to movement along a plane in a transverse direction relative to the forward and rearward directions of travel, the telescopic reach comprising a proximal portion coupled to the chassis at a location beneath the hopper and a distal portion to which the vertical post is attached, wherein the telescopic reach is configured to telescopically extend and retract the grabber in the lowered position on the vertical post relative to both the hopper and the chassis; and
a track configured to (i) align with the vertical post when the telescopic reach is in a retracted position; and (ii) guide the grabber upward relative to the hopper toward the dump position as the grabber grasps the container.
14 . The refuse collection vehicle of claim 13 , wherein the grabber comprises a pair of movable fingers configured to converge and grasp the container.
15 . The refuse collection vehicle of claim 14 , further comprising at least one sensor and a controller, the controller configured to determine, based on data received from the sensor, a position of the pair of movable fingers relative to the container.
16 . The refuse collection vehicle of claim 14 , further comprising at least one sensor and a controller, the controller configured to determine, based on data received from the sensor, a weight of the container.
17 . The refuse collection vehicle of claim 16 , wherein the at least one sensor comprises at least one of a pressure sensor, a positioning sensor, or a load cell.
18 . The refuse collection vehicle of claim 13 , further comprising a camera mounted onto a top edge of the hopper, the camera configured to provide a view of the container when contents are dumped from the container into the hopper.
19 . The refuse collection vehicle of claim 18 , further comprising a light source mounted on the top edge of the hopper and adjacent to the camera.
20 . A refuse collection vehicle defining a forward direction of travel and a rearward direction of travel on a ground surface, the refuse collection vehicle comprising:
a chassis;
a hopper supported on the chassis; and
an arm configured to grasp a container from a location above or below a grade of the ground surface on only one side of the refuse collection vehicle and to dump contents of the container into the hopper, the arm comprising:
a grabber movable between a lowered position and a dump position;
a telescopic reach constrained to movement along a plane in a transverse direction relative to the forward and rearward directions of travel, the telescopic reach comprising a proximal portion coupled to the chassis at a location beneath the hopper and a distal portion to which the vertical post is attached, wherein the telescopic reach is configured to telescopically extend and retract the grabber in the lowered position on the vertical post relative to both the hopper and a chassis of the refuse collection vehicle;
a track configured to (i) align with the vertical post when the telescopic reach is in a retracted position; and (ii) guide the grabber upward relative to the hopper toward the dump position as the grabber grasps the container and when the telescopic reach is in a retracted position; and
at least one actuator coupled to a distal end of the telescopic reach, the actuator configured to rotate the grabber relative to the grade of the ground surface about an axis parallel to the forward and rearward directions of travel.
21 . The refuse collection vehicle of claim 20 , wherein:
the grabber comprises a pair of movable fingers configured to converge and grasp the container; and
the refuse collection vehicle further comprises:
at least one sensor; and
a controller configured to determine, based on data received from the at least one sensor, at least one of:
a position of the pair of movable fingers relative to the container; or
a weight of the container.