Drone vehicle

• US 8,606,439 B2
• Filed: 04/01/2013
• Issued: 12/10/2013
• Est. Priority Date: 06/30/2010
• Status: Active Grant

• Current Assignee: Harsco Corporation
• Original Assignee: Harsco Corporation
• Inventors: Miller, Robert S., Delucia, Anthony P., Maurice, Peter R.
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): LANG, MICHAEL DEAN
• Application Number:
  US13/854,325
• Publication Number:
  US 20130220162A1
• Time in Patent Office: 253 Days
• Field of Search: 701/19
• US Class Current: 701/19
• CPC Class Codes: B61L 23/04 for monitoring the mechanical state of the route
• CPC Class Codes: E01B 27/00 Placing, renewing, working, cleaning, or taking-up the ballast, with or without concurrent work on the track; Devices therefor; Packing sleepers
• CPC Class Codes: E01B 27/16 Sleeper-tamping machines
• CPC Class Codes: E01B 27/17 combined with means for lifting, levelling or slewing the track
• CPC Class Codes: E01B 37/00 Making, maintaining, renewing, or taking-up the ballastway or the track, not provided for in a single one of groups E01B27/00 - E01B35/00

Abstract

A drone vehicle for performing maintenance on a railway system is provided. A drone vehicle control system is structured to utilize tie position data to position a drone vehicle workhead over at least a portion of a respective tie. The drone vehicle control system is further structured to actuate the drone vehicle workhead. The drone vehicle may be controlled by a drone vehicle control system linked, preferably by wireless communications, to a lead vehicle and a lead vehicle control system. The lead vehicle control system and the drone vehicle control system are structured to communicate with each other, with the lead vehicle control system providing the tie position data to the drone vehicle control system.

Claims

1. A drone vehicle for performing maintenance on a railroad, comprising:

a vehicle body that supports first and second workheads, the first workhead being coupled to the vehicle support body by a first longitudinal positioning device, and the second workhead being coupled to the vehicle support body by a second longitudinal positioning device;

a propulsion device coupled to the vehicle body that propels the vehicle body; and

a control system configured to

obtain tie position data including information representing an orientation of a tie,

cause the first longitudinal positioning device to position the first workhead over a first portion of the tie based on the tie position data, and

cause the second longitudinal positioning device to position the second workhead over a second portion of the tie based on the tie position data.

2. The drone vehicle of claim 1, further comprising

a tie locator operably coupled to the control system, wherein

the control system is configured to determine the tie position data based on measurements from the tie locator.

3. The drone vehicle of claim 1, further comprising

a tie locator operably coupled to the control system, wherein

the control system is configured to receive the tie position data from the tie locator.

4. The drone vehicle of claim 1, wherein the tie position data includes tie configuration data.

5. The drone vehicle of claim 4, wherein the tie configuration data includes data regarding the profile of a tie plate.

6. The drone vehicle of claim 1, wherein the tie position data includes data representing a location of a tie.

7. The drone vehicle of claim 1, wherein

the control system includes a positioning system;

the positioning system is configured to track the location of at least one of the first and second workheads relative to a plurality of ties; and

the control system is configured to actuate the at least one of the first and second workheads at a worksite tie by comparing the location of the at least one of the first and second workheads relative to the tie position data.

8. The drone vehicle of claim 1, wherein the control system is configured to operate the drone vehicle in an automatic mode.

9. The drone vehicle of claim 1, wherein the control system is configured to operate the drone vehicle in an automatic mode without a lead vehicle.

10. The drone vehicle of claim 1, wherein the first workhead includes an anchor squeezer.

11. The drone vehicle of claim 1, wherein the first workhead includes a tamper.

12. The drone vehicle of claim 1, wherein the control system is configured to operate the drone vehicle such that the first workhead is not operated at one or more skipped ties.

13. The maintenance vehicle of claim 1, wherein the first workhead includes an anchor squeezer.

14. The maintenance vehicle of claim 1, wherein the first workhead includes a tamper.

15. A maintenance vehicle for performing maintenance on a track, comprising:

a body;

a first workhead that performs track maintenance coupled to the body by a first longitudinal positioning device;

a second workhead that performs track maintenance coupled to the body by a second longitudinal positioning device;

and

a controller configured to operate the vehicle in an automatic mode.

16. The maintenance vehicle of claim 15, further comprising

a tie locator that provides information representing the location of ties in the track, wherein

the controller is configured to receive the information representing the location of the ties and control the first and second workheads based on the location of the ties.

17. The maintenance vehicle of claim 16, further comprising

an encoder that detects a speed or distance the vehicle moves, wherein

the controller is configured to determine when a tie detected by the tie locator is positioned at at least one of the first and second workheads based on the speed or distance the vehicle moves.

18. The maintenance vehicle of claim 17, wherein

the controller is configured to cause the first and second positioning devices to move the first and second workheads respectively in a direction opposite to a direction of travel of the maintenance vehicle.

19. A drone vehicle for performing maintenance on a railroad, comprising:

a vehicle body that supports first and second workheads, the first workhead being coupled to the vehicle support body by a first longitudinal positioning device, and the second workhead being coupled to the vehicle support body by a second longitudinal positioning device;

a propulsion device coupled to the vehicle body that propels the vehicle body; and

a control system configured to obtain information related to a position of a tie of the railroad and operate the first and second workheads based on the information.

20. The drone vehicle of claim 19, further comprising

a tie locator operably coupled to the control system, wherein

the control system is configured to determine the information based on measurements from the tie locator.