Abstract: One embodiment of the present disclosure relates to a refuse vehicle. The refuse vehicle includes a body, a grabber assembly coupled to the body and including an actuator, a sensor coupled to at least one of the body or the grabber assembly to generate sensor data indicative of a position of a refuse container, a user interface, and a control system communicably coupled to the sensor and the user interface. The control system may determine, based on the sensor data, an operation of the grabber assembly corresponding to at least one of the refuse container or an obstacle proximate to the refuse container, present, via the user interface, an indicator of the operation including a request for an operator acknowledgement of the operation, receive the operator acknowledgement of the operation, and operate, responsive to receiving the operator acknowledgement, the actuator of the grabber assembly to complete the operation.

Abstract: A refuse vehicle may include a body defining a pair of refuse compartments including an isolation compartment and a storage compartment. The refuse vehicle may include a conveyor configured to direct refuse material into one of the pair of refuse compartments. The refuse vehicle may include an actuator configured to selectively redirect the refuse material from the conveyor to the isolation compartment. The refuse vehicle may include one or more sensors. The refuse vehicle may include processing circuitry configured to operate the actuator in a first direction to direct the refuse material to the storage compartment, determine, based on the sensor data, a presence of an object on the conveyor that should be directed to the isolation compartment, and operate the actuator in a second direction to redirect the object from the conveyor to the isolation compartment.

Abstract: A refuse vehicle includes a chassis, and a body coupled to the chassis. The refuse vehicle further includes a grabber assembly coupled to the body, where the grabber assembly is configured to engage a refuse container, and a contaminant detection system. The contaminant detection system includes a detection device coupled to the grabber assembly, where the detection device configured to create scan data of refuse material contained within the refuse container, and a controller communicably coupled to the detection device. The controller includes one or more processors communicably coupled to a memory, with the memory storing identifiers corresponding to a presence of a contaminant within the refuse material. The controller is configured to generate a scan of the refuse material based on the scan data, and determine, based on the scan data and the identifiers, the presence of a contaminant within the refuse material.

Abstract: A refuse vehicle may include a chassis, a body, a contaminant sensor, a conveyor, a contaminant separating mechanism, and a controller. The body is supported by the chassis and defines a refuse compartment and a containment volume. The contaminant sensor is disposed within the refuse compartment. The conveyor is disposed within the refuse compartment and configured to convey refuse material past the contaminant sensor. The contaminant separating mechanism is configured to selectively direct refuse material into the containment volume. The controller is configured to receive sensor data from the contaminant sensor. The controller is also configured to determine a presence of a contaminant within the refuse material based on the sensor data. The controller is also configured to actuate the contaminant separating mechanism in response to the presence of the contaminant to direct the refuse material containing the contaminant into the containment volume.

Abstract: An autonomous refuse vehicle can include a chassis, a body assembly, a drive motor, a lift system, and a controller. The controller can include one or more memory devices storing instructions thereon. The instructions can, when executed by one or more processors, cause the one or more processors to receive one or more first signals to indicate a first state of the lift system, receive one or more second signals to indicate a second state of the drive motor, and determine a control action for the lift system with respect to a refuse container detected as being proximate to the body assembly.

Abstract: A refuse vehicle includes an autonomous driving system configured to drive the refuse vehicle via a prime mover, a body assembly, a lift system configured to collect refuse into the body assembly, an autonomous refuse collection system configured to operate the lift system, and a controller communicably coupled to the lift system and the prime mover. The controller is configured to transmit a first signal to the autonomous driving system to control the lift system, where the first signal indicates initiation of an autonomous refuse collection operation via the lift system to collect refuse from a refuse can; transmit a second signal from a manual control interface of the refuse vehicle to the autonomous driving system to control the lift system, where the second signal indicates a manual control command for the lift system; and prioritize, via the autonomous driving system, the second signal over the first signal.