Control system and method for brake bleeding
First Claim
1. A system comprising:
- a machine assembly that is movable to actuate a brake lever of a vehicle in order to open a valve of an air brake system of the vehicle;
an imaging sensor comprising an infrared emitter configured to generate and emit a pattern of infrared light and a depth camera configured to analyze the pattern of infrared light to interpret perceived distortions in the pattern to acquire three-dimensional perception information of a working environment that includes the brake lever;
an encoder detecting a displacement of the machine assembly relative to a reference position of a robotic arm of the machine assembly;
one or more processors configured to detect a position of the brake lever relative to the machine assembly based on the perception information and the displacement of the machine assembly, the one or more processors further configured to generate a motion trajectory for the machine assembly that provides a path from the machine assembly to the position of the brake lever, wherein the robotic arm moves along the motion trajectory towards the brake lever, the one or more processors further driving movement of the machine assembly along the motion trajectory towards the brake lever and revising the motion trajectory during movement of the robotic arm towards the brake lever with closed-loop feedback of the three-dimensional perception information andanalyze the three-dimensional perception information to construct a point cloud-based map of a working environment that includes the brake lever to identify a location of the brake lever, wherein the point cloud-based map comprises a first set of points associated with the brake lever, a second set of points associated with an obstacle, and a third set of points associated with free space.
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Accused Products
Abstract
A system includes a machine assembly, an imaging sensor, an encoder, and one or more processors. The machine assembly is movable to actuate a brake lever of a vehicle in order to open a valve of an air brake system of the vehicle. The imaging sensor acquires perception information of a working environment that includes the brake lever. The encoder detects a displaced position of the machine assembly relative to a reference position of the machine assembly. The one or more processors detect a position of the brake lever relative to the machine assembly based on the acquired perception information and the detected displacement of the arm. The one or more processors generate a motion trajectory for the machine assembly that provides a path to the brake lever. The one or more processors drive movement of the machine assembly along the motion trajectory towards the brake lever.
18 Citations
20 Claims
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1. A system comprising:
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a machine assembly that is movable to actuate a brake lever of a vehicle in order to open a valve of an air brake system of the vehicle; an imaging sensor comprising an infrared emitter configured to generate and emit a pattern of infrared light and a depth camera configured to analyze the pattern of infrared light to interpret perceived distortions in the pattern to acquire three-dimensional perception information of a working environment that includes the brake lever; an encoder detecting a displacement of the machine assembly relative to a reference position of a robotic arm of the machine assembly; one or more processors configured to detect a position of the brake lever relative to the machine assembly based on the perception information and the displacement of the machine assembly, the one or more processors further configured to generate a motion trajectory for the machine assembly that provides a path from the machine assembly to the position of the brake lever, wherein the robotic arm moves along the motion trajectory towards the brake lever, the one or more processors further driving movement of the machine assembly along the motion trajectory towards the brake lever and revising the motion trajectory during movement of the robotic arm towards the brake lever with closed-loop feedback of the three-dimensional perception information and analyze the three-dimensional perception information to construct a point cloud-based map of a working environment that includes the brake lever to identify a location of the brake lever, wherein the point cloud-based map comprises a first set of points associated with the brake lever, a second set of points associated with an obstacle, and a third set of points associated with free space. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method comprising:
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acquiring three-dimensional perception information to detect a position of a brake lever of a vehicle relative to an arm of a machine assembly, the brake lever being actuatable to open a valve of an air brake system of the vehicle, the perception information being acquired by an imaging sensor mounted on the arm by generating and emitting a pattern of infrared light using an infrared emitter and analyzing the pattern of infrared light to interpret perceived distortions in the pattern using a depth camera; generating, using one or more processors, a motion trajectory for the arm from a current position of the arm to the position of the brake lever, the motion trajectory including a series of via-points that form a path for the arm to move along towards the brake lever while avoiding identified obstacles; generating, using the one or more processors, designated torques for the arm at corresponding via-points based on the motion trajectory; driving the arm towards the brake lever according to the designated torques to actuate the brake lever for opening the valve of the air brake system; revising the motion trajectory during movement of the arm towards the brake lever with closed-loop feedback of the three-dimensional perception information; and analyzing the three-dimensional perception information to construct a point cloud-based map of a working environment that includes the brake lever to identify a location of the brake lever, wherein the point cloud-based map comprises a first set of points associated with the brake lever, a second set of points associated with an obstacle, and a third set of points associated with free space. - View Dependent Claims (14, 15, 16, 17)
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18. A system comprising:
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a machine assembly having an arm and a base, the arm being movable relative to the base to actuate a brake lever of a vehicle in order to open a valve of an air brake system of the vehicle; an imaging sensor mounted on the arm, wherein the imaging sensor comprises an infrared emitter configured to generate and emit a pattern of infrared light and a depth camera configured to analyze the pattern of infrared light to interpret perceived distortions in the pattern to acquire three-dimensional perception information of a working environment that includes the brake lever; an encoder detecting a displacement of the arm relative to a reference position of the arm; one or more processors configured to detect a position of the brake lever relative to the arm based on the three-dimensional perception information and the displacement of the arm, the one or more processors further configured to generate a motion trajectory for the arm that provides a path from the arm to the position of the brake lever, the one or more processors driving movement of the arm along the motion trajectory towards the brake lever, and revising the motion trajectory during movement of the arm towards the brake lever with closed-loop feedback of the three-dimensional perception information and analyze the three-dimensional perception information to construct a point cloud-based map of a working environment that includes the brake lever to identify a location of the brake lever, wherein the point cloud-based map comprises a first set of points associated with the brake lever, a second set of points associated with an obstacle, and a third set of points associated with free space. - View Dependent Claims (19, 20)
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Specification