The Heil Co.

Refuse collection vehicles and methods of operating refuse collection vehicles are disclosed. A method includes: receiving, by a control system, data generated by a communication system configured to transmit and receive electromagnetic energy, the communication system comprising: a first communication device attached to a wall of a storage container of the refuse collection vehicle; and a second communication device attached to a surface of a packer of the refuse collection vehicle and facing the wall of the storage container; determining, by the control system and based on the data generated by the communication system, a distance between the packer and the wall of the storage container; and adjusting, by the control system and based on the distance between the packer and the wall, one or more operating parameters of an actuator coupled to the packer and configured to exert a force on the packer to move the packer.

A mechanical arm designed to provide automated garbage collection with smooth, constant movement (i.e. movement that has minimal jerk/shock) thereby resulting in limited shock stress on the components and leading to high durability. The mechanical arm including a horizontal displacement system having a plurality of sections rollingly engaged to one another and a motor mounted to an immobile section for drivingly extending section in a generally horizontal orientation, a vertical displacement system having a plurality of masts rollingly engaged to one another and a motor mounted to a first mast for drivingly extending a second mast in a generally vertical orientation, and/or a grabber system having a plurality of fingers mounted to a frame and operated by a single motor.

Methods and systems for emptying refuse containers by agitation are disclosed. A refuse collection vehicle includes: a wheeled chassis; a hopper supported on the wheeled chassis; and a lift arm assembly configured to unload refuse from a refuse container into the hopper. The lift arm assembly is movable by actuators. The refuse collection vehicle includes: a camera mounted to the refuse collection vehicle; and a control system communicably coupled to the camera and the actuators. The control system includes one or more processors configured to perform operations including: obtaining, from the camera, image data depicting an interior of the refuse container after the lift arm assembly has raised the refuse container; determining, based on the image data, whether agitation of the refuse container is recommended to dislodge the refuse from the refuse container; and in response, causing the refuse collection vehicle to perform one or more actions.

A computer-implemented method performed by at least one processor, the method comprising: obtaining vehicle information for a fleet of vehicles, the vehicle information comprising, for each vehicle of the fleet of vehicles, battery charge data for at least one battery of the respective vehicle; obtaining, for each route of a plurality of routes, route information; automatically assigning, for each route of the plurality of routes based on the vehicle information and the route information, a respective vehicle of the fleet of vehicles to a respective route of the plurality of routes; and outputting assignment data that indicates the assigned vehicle for each of the plurality of routes. In some cases, the fleet of vehicles comprises a fleet of refuse collection vehicles. In some cases, the plurality of routes comprises a plurality of refuse collection routes.

A refuse vehicle includes a vehicle body on a chassis having a frame, an internal combustion engine (ICE), and a transmission coupling the ICE with a plurality of tractive elements. The vehicle body includes an electrically powered body system and a hydraulically powered body system. A first power module is coupled with the ICE and is configured to provide rotary power to a hydraulic pump that is configured to provide hydraulic power to the hydraulically powered body system. A second power module is coupled with the transmission and configured to rotationally couple and decouple an electrical generator with the transmission. The generator is configured to charge at least one battery when rotationally coupled with the transmission. The battery is configured to provide electrical power to the electrically powered body system.

A compactor system includes: a container body; a packer; and an actuator configured to operate the packer to compact refuse within the container body; an electromagnetic sensor device configured to detect objects near the compactor system and to generate sensor data indicating the detected objects near the compactor system; a control system configured to perform operations including: receiving the sensor data generated by the electromagnetic sensor device, wherein the sensor data indicates a detected object; classifying the detected object as a non-refuse object based on the sensor data; determining that the non-refuse object is likely inside the container body; and in response to determining that the non-refuse object is likely inside the container body, controlling the actuator to prevent compaction of the refuse by the packer. Classifying the detected object as a non-refuse object can include classifying the detected object as a living object.

Systems for assessing a volumetric fullness of a storage container of a refuse collection vehicle include a vehicle chassis, a refuse body on the vehicle chassis, a sensor, and a controller. The refuse body includes a hopper, a storage container, a lift, and a packer. The storage container defines an enclosed volume for containing waste. The lift is configured to service a refuse container proximate the refuse collection vehicle by engaging the refuse container, lifting the refuse container, and depositing waste from the refuse container into the hopper. The packer is configured to transfer waste from the hopper into the storage container and to pack waste within the storage container. The sensor is configured to monitor a packer load. The controller is communicatively coupled to the sensor and is configured to assess, based on packer load data generated by the sensor, a volumetric fullness of the storage container.

Systems for detecting a material flow anomaly affecting a packer of a refuse collection vehicle include a vehicle chassis, a refuse body on the vehicle chassis, an intake sensor, and a controller. The vehicle chassis defines a forward and rearward direction of travel. The refuse body includes a hopper, a storage container, and a packer. The hopper provides a refuse intake volume. The storage container provides a refuse storage volume. The packer is configured to transfer refuse from the intake volume of the hopper into the storage volume of the storage container and to pack waste within the storage volume. The intake sensor is configured to monitor the refuse intake volume of the hopper. The controller is configured to determine based on data received from the intake sensor that a condition of the refuse intake volume indicates a material flow anomaly affecting the packer.

A refuse collection vehicle includes a vehicle chassis defining a forward and rearward direction of travel. A refuse body on the vehicle chassis includes a storage container, and a packer configured to pack waste within the storage container. The packer includes a prime mover, a packer blade, and a reciprocating linear actuator operably coupled to the prime mover and configured to exert a variable force on the packer blade. The reciprocating linear actuator includes a crank rotatable in response to torque from the prime mover, an arm pivotable in response to rotation of the crank, and a driver structurally connected to the packer blade. The driver is translatable along the forward and rearward directions in response to pivoting of the arm.

A method of integrating an electrical system includes providing a chassis and mounting a body to the chassis, such that a storage compartment of the body extends longitudinally along the chassis between a front end and a rear end. After mounting the body to the chassis, the method includes shifting a center of gravity away from a powered tailgate at the rear end of the body by attaching a DC-DC converter to the chassis or the body at a frontal location that is within a longitudinal space containing a battery pack electrically coupled to a propulsion motor of the chassis. Next, the method includes receiving, with the DC-DC converter, electrical power from the battery pack at an input DC voltage; and providing, with the DC-DC converter, electrical power to a plurality of electric-motor-driven components of the body at one or more output DC voltages that are lower than the input DC voltage.