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;
a first imaging sensor positioned to acquire two-dimensional perception information of a working environment that includes the brake lever, the first imaging sensor configured to acquire the two-dimensional perception information during movement of the machine assembly towards the brake lever;
an encoder detecting a displacement of the machine assembly relative to a reference position of the machine assembly, the displacement including at least one of position information or motion information of the machine assembly during movement of the machine assembly towards the brake lever; and
one or more processors configured to estimate a target position of the brake lever relative to the machine assembly as the machine assembly moves toward the brake lever based on the two-dimensional perception information and the displacement of the machine assembly, the one or more processors further configured to drive the movement of the machine assembly towards the target position of the brake lever.
2 Assignments
0 Petitions
Accused Products
Abstract
A system is provided that includes a machine assembly, a first 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. The first imaging sensor is positioned to acquire two-dimensional perception information of a working environment that includes the brake lever during movement of the machine assembly towards the brake lever. The encoder detects a displacement of the machine assembly relative to a reference position of the machine assembly. The one or more processors estimate a target position of the brake lever relative to the machine assembly during movement of the machine assembly based on the two-dimensional perception information and the displacement. The one or more processors drive the movement of the machine assembly towards the target position of the brake lever.
25 Citations
20 Claims
-
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; a first imaging sensor positioned to acquire two-dimensional perception information of a working environment that includes the brake lever, the first imaging sensor configured to acquire the two-dimensional perception information during movement of the machine assembly towards the brake lever; an encoder detecting a displacement of the machine assembly relative to a reference position of the machine assembly, the displacement including at least one of position information or motion information of the machine assembly during movement of the machine assembly towards the brake lever; and one or more processors configured to estimate a target position of the brake lever relative to the machine assembly as the machine assembly moves toward the brake lever based on the two-dimensional perception information and the displacement of the machine assembly, the one or more processors further configured to drive the movement of the machine assembly towards the target position of the brake lever. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
-
-
12. A method comprising:
-
acquiring perception information of a brake lever of a vehicle to detect a target position of the brake lever relative to a robotic 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 a first imaging sensor mounted on the robotic arm; driving the robotic arm towards the target position of the brake lever to actuate the brake lever for opening the valve of the air brake system detecting a displacement of the robotic arm as the robotic arm moves towards the target position, the displacement information including at least one of position information or motion information of the robotic arm; and estimating, using one or more processors, an updated target position of the brake lever based at least in part on the perception information acquired during the movement of the robotic arm and the displacement information of the robotic arm. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
-
Specification