Robotic vehicle for performing rail-related actions

• US 8,583,313 B2
• Filed: 09/21/2009
• Issued: 11/12/2013
• Est. Priority Date: 09/19/2008
• Status: Active Grant

• Current Assignee: International Electronic Machines Corp.
• Original Assignee: International Electronic Machines Corp.
• Inventors: Mian, Zahid F.
• Primary Examiner(s): Black, Thomas
• Assistant Examiner(s): Nolan, Peter D
• Application Number:
  US12/563,577
• Publication Number:
  US 20100076631A1
• Time in Patent Office: 1,513 Days
• Field of Search: 701/19, 701/23, 701/28, 700/245, 700/258, 700/259, 901/1, 901/2, 901/15, 901/29, 901/31, 901/33, 901/47
• US Class Current: 701/28
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B61G 7/04 Coupling or uncoupling by means of trackside apparatus
• CPC Class Codes: G05D 1/0229 in combination with fixed guiding means
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058

Abstract

A robotic vehicle configured for autonomous or semi-autonomous operation in a rail environment is provided. The vehicle can process image data to move about the rail environment and perform one or more actions in the rail environment. The actions can include one or more actions related to decoupling and/or attaching rail vehicles, and can be implemented by performing three-dimensional image processing. The vehicle can be configured to move with any movement of a rail vehicle on which one or more actions are being performed. In an alternative embodiment, the various components configured to perform the action are implemented at a stationary location with respect to a rail line.

Claims

1. A vehicle configured for autonomous operation, the vehicle comprising:

a first imaging device configured to acquire location image data;

a transport component configured to enable the vehicle to move independently;

a processing component configured to process the location image data acquired by the first imaging device and operate the transport component to move the vehicle using the location image data;

a set of action components, the set of action components including at least one action component configured to be temporarily secured with respect to a target object external to the vehicle;

means for moving the at least one action component to temporarily secure the at least one action component with respect to the target object; and

means for enabling the set of action components to move freely in conjunction with movement of the target object after the at least one action component is temporarily secured, wherein the means for enabling includes a clutch configured to disengage a motor from a set of wheels for the vehicle, and wherein the processing component is configured to disengage the motor in response to the at least one action component being temporarily secured with respect to the target object.

2. The vehicle of claim 1, the means for moving comprising an arm including a plurality of links, wherein the set of action components are located on the arm, and wherein the processing component is configured to operate the arm to move the set of action components with respect to the target object.

3. The vehicle of claim 2, wherein the processing component is further configured to disengage at least one of the plurality of links in response to the at least one action component being temporarily secured with respect to the target object.

4. The vehicle of claim 1, wherein the target object comprises a component of a rail vehicle.

5. The vehicle of claim 1, wherein the set of action components includes a manipulator configured to decouple a pair of rail vehicles.

6. The vehicle of claim 1, further comprising a set of visualization components configured to capture work region image data of a region including the target object, wherein the processing component is configured to process the work region image data and create a three-dimensional representation of objects in the work region based on the work region image data.

7. The vehicle of claim 1, wherein the motor is configured to drive at least one wheel that rotates a set of tracks.

8. A railway maintenance device configured for autonomous operation, the device comprising:

a multi-link arm, each link capable of independent movement in at least one direction;

a set of visualization components configured to capture work region image data for a region including at least one target object;

an action component located on a link of the multi-link arm;

a processing component configured to process the work region image data to generate a three-dimensional representation of the region, move at least one of the links to place the component near a target object in the region using the three-dimensional representation, and operate at least one of the arm or the action component to perform a railway maintenance operation, wherein the railway maintenance device is configured to perform each of a plurality of railway maintenance operations including;

decoupling a pair of rail vehicles, detaching a pair of brake hoses, and attaching a pair of brake hoses, and wherein the processing component is configured to disengage at least one link of the multi-link arm in response to the at least one action component being temporarily secured with respect to the target object.

9. The device of claim 8, further comprising:

a location imaging device configured to acquire location image data having a second field of view distinct from the work region image data; and

a transport component configured to enable the device to move independently, wherein the processing component is further configured to process the location image data and operate the transport component to move the vehicle using the location image data.

10. The device of claim 9, further comprising a positioning component configured to receive a set of location signals, wherein the processing component is further configured to process the set of location signals to determine a location of the device and use the location of the device to move the device.

11. The device of claim 10, wherein the positioning component is further configured to acquire dead-reckoning data, and wherein the processing component further uses the dead-reckoning data to determine the location of the device.

12. The device of claim 9, wherein the processing component is configured to identify at least one feature in the location image data included in a digital map of a rail yard and adjust movement of the device based on a location of the at least one feature with respect to the device.

13. The device of claim 8, wherein the plurality of railway maintenance operations further includes acquiring inspection data for a rail vehicle.

14. A rail yard comprising:

a railway maintenance device configured for autonomous operation, the device comprising;

a multi-link arm, each link capable of independent movement in at least one direction;

a set of visualization components configured to capture work region image data for a region including at least one target object;

an action component located on a link of the multi-link arm;

a location imaging device configured to acquire location image data having a second field of view distinct from the work region image data;

a transport component configured to enable the device to move independently, wherein the device comprises a rail-based vehicle; and

a processing component configured to process the work region image data to generate a three-dimensional representation of the region, move at least one of the links to place the component near a target object in the region using the three-dimensional representation, and operate at least one of the arm or the action component to perform a railway maintenance operation, wherein the railway maintenance device is configured to perform each of a plurality of railway maintenance operations including;

decoupling a pair of rail vehicles, detaching a pair of brake hoses, attaching a pair of brake hoses, and acquiring inspection data for a rail vehicle, wherein the processing component is further configured to process the location image data and operate the transport component to move the device using the location image data.

15. The rail yard of claim 14, wherein the railway maintenance device is located between a pair of rail tracks for a rail line in the rail yard.

16. The rail yard of claim 14, further comprising means for assisting the device in moving within the rail yard.

17. The rail yard of claim 16, wherein the means for assisting comprises a plurality of wireless geographic location transmitters, each location transmitter configured to transmit location information, and wherein the processing component is further configured to move the device using the location information.

18. The rail yard of claim 16, wherein the means for assisting comprises a set of rail tracks.

19. The rail yard of claim 16, wherein the means for assisting comprises a set of markers, and wherein the processing component is further configured to acquire data on a location of a marker in the set of markers and move the device using the location of the marker.

20. The rail yard of claim 14, wherein the transport component includes a clutch configured to disengage a motor from a set of wheels for the vehicle, and wherein the processing component is configured to disengage at least one of:

the motor or at least one link of the multi-link arm in response to the action component being temporarily secured with respect to the target object.