Automatic control of a refuse front end loader

• US 10,196,206 B2
• Filed: 08/23/2016
• Issued: 02/05/2019
• Est. Priority Date: 05/17/2013
• Status: Active Grant

• Current Assignee: The Heil Company (Dover Corporation)
• Original Assignee: The Heil Company (Dover Corporation)
• Inventors: Whitfield, Jr., Ralph Waldo, Ham, Brian H., Curotto, John M., Cooper, Andrew Blaine, Parker, Brian T.
• Primary Examiner(s): Ramesh, Krishnan
• Application Number:
  US15/244,291
• Publication Number:
  US 20160355335A1
• Time in Patent Office: 896 Days
• Field of Search: None
• CPC Class Codes: B65F 2003/025 Constructional features relating to actuating means for lifting or tipping containers
• CPC Class Codes: B65F 2003/0279 the discharging means mounted at the front of the vehicle
• CPC Class Codes: B65F 2003/146 Sensors, e.g. pressure sensors
• CPC Class Codes: B65F 3/041 Pivoted arms or pivoted carriers
• CPC Class Codes: G06Q 10/30 Administration of product recycling or disposal
• CPC Class Codes: Y02W 90/00 Enabling technologies or technologies with a potential or indirect contribution to greenhouse gas [GHG] emissions mitigation

Abstract

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.

Claims

1. An automatic control system of a refuse vehicle comprising:

a first actuatable switch;

a mode select module that;

(i) sets a selected mode to a first mode when the first switch is in a first position; and

(ii) sets the selected mode to a second mode when the first switch is in a second position;

a joystick controller that;

(i) when the selected mode is the first mode;

(a) in response to actuation of a joystick along a first axis, generates control instructions to actuate a lift arm; and

(b) in response to actuation of the joystick along a second axis, generates control instructions to actuate a mechanism engaged with a refuse container; and

(ii) when the selected mode is the second mode and when a second switch is actuated;

(a) in response to actuation of the joystick along a third axis, generates control instructions to actuate the lift arm and the mechanism away from a starting position and toward a dump position; and

(b) in response to actuation of the joystick along a fourth axis, generates control instructions to actuate the lift arm and the mechanism away from the dump position and toward the starting position;

(iii) when the selected mode is the second mode and the second switch is unactuated;

(a) in response to actuation of the joystick, generates control instructions to actuate a loader arm coupled to the refuse container;

a plurality of sensors that sense a plurality of characteristics of the vehicle; and

a control module that actuates the lift arm and the mechanism based on the control instructions and at least one of the plurality of sensed characteristics, when the selected mode is the second mode.

2. The automatic control system of claim 1 wherein:

the third axis is different than the fourth axis; and

the first axis is different than the second axis.

3. The automatic control system of claim 1 wherein the joystick controller, (i) when the selected mode is the first mode:

(a) in response to actuation of the joystick along the first axis, generates control instructions to actuate the lift arm and not the mechanism; and

(b) in response to actuation of the joystick along the second axis, generates control instructions to actuate the mechanism and not the lift arm.

4. The automatic control system of claim 1 wherein the mechanism comprises a fork, and further wherein:

the plurality of sensors include;

an arm position sensor that measures a position of the lift arm; and

a fork position sensor that measures a position of the fork; and

the control module actuates the lift arm and the fork based on the control instructions, the position of the lift arm, and the position of the fork.

5. The automatic control system of claim 4 wherein, when the selected mode is the second mode, and when the second switch is actuated, the control module actuates the lift arm and the fork based on the control instructions, the position of the lift arm, the position of the fork, and keeping a refuse container level.

6. The automatic control system of claim 4 wherein, when the selected mode is the second mode, and when the second switch is actuated, the control module actuates at least one of the lift arm and the fork, thereby rolling a refuse container into a hopper of the refuse vehicle, in response to a determination that the refuse container is above an operator cab of the refuse vehicle.

7. The automatic control system of claim 6 wherein the control module determines whether the refuse container is above the operator cab of the refuse vehicle based on the position of the lift arm measured using the arm position sensor and the position of the fork measured using the fork position sensor.

8. The automatic control system of claim 1 wherein the control module controls a pressure of hydraulic fluid applied to a primary control valve, thereby controlling actuation of the lift arm.

9. The automatic control system of claim 1 wherein the mechanism comprises a fork, and wherein the control module controls a pressure of hydraulic fluid applied to a primary control valve, thereby controlling actuation of the fork.

10. An automatic control method for a refuse vehicle comprising:

setting a selected mode to a first mode when a first actuatable switch is in a first position;

setting the selected mode to a second mode when the first switch is in a second position;

when the selected mode is the second mode;

in response to actuation of a joystick along a first axis, generating control instructions to actuate a lift arm; and

in response to actuation of the joystick along a second axis, generating control instructions to actuate a mechanism engaged with a refuse container;

when the selected mode is the second mode and when a second switch is actuated;

in response to actuation of the joystick along a third axis, generating control instructions to actuate the lift arm and the mechanism away from a starting position and toward a dump position; and

in response to actuation of the joystick along a fourth axis, generating control instructions to actuate the lift arm and the mechanism away from the dump position and toward the starting position;

when the selected mode is the second mode and the second switch is unactuated;

in response to actuation of the joystick, generates control instructions to actuate a loader arm coupled to the refuse container;

sensing, using a plurality of sensors, a plurality of characteristics of the vehicle; and

actuating the lift arm and the mechanism based on the control instructions and at least one of the plurality of sensed characteristics.

11. The automatic control method of claim 10 wherein:

the third axis is different than the fourth axis; and

the first axis is different than the second axis.

12. The automatic control method of claim 10 wherein, (i) when the selected mode is the first mode, the generating the control instructions includes:

(a) in response to actuation of the joystick along the first axis, generating the control instructions to actuate the lift arm and not the mechanism; and

(b) in response to actuation of the joystick along the second axis, generating the control instructions to actuate the fork and not the lift arm.

13. The automatic control method of claim 10 wherein the mechanism comprises a fork, and further wherein:

sensing the plurality of characteristics of the vehicle includes;

sensing a position of the lift arm using an arm position sensor; and

sensing a position of the fork using a fork position sensor; and

wherein actuating the lift arm and the fork includes actuating the lift arm and the fork based on the control instructions, the position of the lift arm, and the position of the fork.

14. The automatic control method of claim 13 wherein the mechanism comprises a fork, and further comprising, when the selected mode is the second mode, actuating the lift arm and the fork based on the control instructions, the position of the lift arm, the position of the fork, and keeping a refuse container level.

15. The automatic control method of claim 13 wherein the mechanism comprises a fork, and further comprising, when the selected mode is the second mode, actuating at least one of the lift arm and the fork, thereby rolling a refuse container into a hopper of the refuse vehicle, in response to a determination that the refuse container is above an operator cab of the refuse vehicle.

16. The automatic control method of claim 15 further comprising determining whether the refuse container is above the operator cab of the refuse vehicle based on the position of the lift arm measured using the arm position sensor and the position of the fork measured using the fork position sensor.

17. The automatic control method of claim 10 further comprising controlling a pressure of hydraulic fluid applied to a primary control valve, thereby controlling actuation of the lift arm.

18. The automatic control method of claim 10 wherein the mechanism comprises a fork, and further comprising controlling a pressure of hydraulic fluid applied to a primary control valve, thereby controlling actuation of the fork.