Railway maintenance device

{
  "publication_number": "US9383752B2",
  "country": "US",
  "kind": "B2",
  "title": "Railway maintenance device",
  "abstract": "A railway maintenance device configured for autonomous or semi-autonomous operation in a rail environment is provided. The device 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 device 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 comprising: a transport component including: a motor; a set of wheels; and a clutch configured to selectively engage the set of wheels with the motor; 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 component with respect to the target object, the means for moving comprising an arm including a plurality of links, wherein the set of action components are located on the arm, the vehicle further comprising means for disengaging 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; and means for operating the clutch to disengage the motor from the set of wheels in response to the at least one action component being temporarily secured with respect to the target object.",
    "2. The vehicle of claim 1, wherein the target object is a moving object.",
    "3. The vehicle of claim 1, wherein the target object comprises a component of a rail vehicle.",
    "4. The vehicle of claim 1, wherein the set of action components includes a manipulator configured to decouple a pair of rail vehicles.",
    "5. The vehicle of claim 1, further comprising: a first imaging device configured to acquire location image data for the vehicle; a set of visualization components configured to capture work region image data of a region including the target object; and a processing component configured to process the location image data and operate the transport component to move the vehicle using the location image data and 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.",
    "6. The vehicle of claim 5, wherein the means for moving the at least one action component includes the processing component, and wherein the processing component is configured to operate the transport component and move the at least one action component autonomously.",
    "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 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; and a processing component configured to: move at least one of the links to place the action component near a target object in the region using the work region image data; operate at least one of: the arm or the action component, to perform a railway maintenance operation; and disengage at least one link of the multi-link arm in response to the action component being temporarily secured with respect to the target object; 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.",
    "9. The device of claim 8, wherein the processing component disengages the at least one link to allow the at least one link to move freely while the railway maintenance device is performing the railway maintenance operation.",
    "10. The device of claim 8, 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 8, 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 railway maintenance operation comprises at least one of: decoupling a pair of rail vehicles, detaching a pair of brake hoses, attaching a pair of brake hoses, or acquiring inspection data for a rail vehicle.",
    "14. A rail yard comprising: a railway maintenance device 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, 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; and a processing component configured to: move at least one of the links to place the action component near a target object in the region using the work region image data; operate at least one of: the arm or the action component, to perform at least one of the plurality of railway maintenance operations; and disengage at least one link of the multi-link arm in response to the action component being temporarily secured with respect to the target object.",
    "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, the railway maintenance device 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; operate the transport component to move the device using the location image data autonomously; and disengage a motor in the transport component from a set of wheels in the transport component in response to the action component being temporarily secured with respect to the target object.",
    "17. The rail yard of claim 16, further comprising means for assisting the device in moving within the rail yard.",
    "18. The rail yard of claim 17, 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.",
    "19. The rail yard of claim 17, wherein the means for assisting comprises a set of rail tracks, wherein the device comprises a rail-based vehicle.",
    "20. The rail yard of claim 17, 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."
  ],
  "description_excerpt": "The current application is a continuation application of U.S. Utility patent application Ser. No. 12/563,577, titled “Robotic Vehicle for Performing Rail-Related Actions,” which was filed on 21 Sep. 2009 and issued as U.S. Pat. No. 8,583,313 on 12 Nov. 2013, and which claims the benefit of co-pending U.S. Provisional Application No. 61/136,624, titled “Robotic vehicle to perform railway maintenance”, which was filed on 19 Sep. 2008, both of which are hereby incorporated by reference. Aspects of the disclosure are related to U.S. Utility patent application Ser. No. 12/043,357, titled “Rail vehicle Identification and processing”, which was filed on 6 Mar. 2008, and U.S. Utility patent application Ser. No. 12/171,438, titled “Rail vehicle identification and processing”, which was filed on 11 Jul. 2008, each of which is hereby incorporated by reference.\n\nThe disclosure relates generally to a robotic system, and more particularly to processing objects, such as rail vehicles, using a robotic system.\n\nDuring use, railroad wheels are subjected to high, long-term stresses. Despite being made of high-quality steel, the stresses cause the wheels to become worn over a long period of operation. Without maintenance, a wheel can become too thin or otherwise no longer of the correct geometry. Further, the wheels may develop other defects, such as, for example, a “slid flat” or “flat spot”, which is caused by locking the wheels with the brakes in an attempt to stop.\n\nThe wheels of railroad cars and locomotives cannot turn differentially since they are affixed to solid axles.",
  "cpc": [
    "B61G 7/04",
    "B25J 5/005",
    "B25J 5/007",
    "B61C 17/12",
    "B61J 3/00",
    "B61K 9/12",
    "B61L 23/041",
    "B61L 27/57",
    "G05D 1/0229",
    "G05D 1/0231",
    "G05D 1/0274",
    "G05D 1/0276"
  ],
  "ipc": [
    "B61C 17/12",
    "B61G 7/04",
    "G05D 1/02"
  ],
  "assignees": [
    "International Electronic Machines Corp"
  ],
  "inventors": [
    "Zahid F. Mian"
  ],
  "filing_date": "2013-11-08",
  "publication_date": "2016-07-05",
  "grant_date": "2016-07-05",
  "priority_date": "2008-09-19",
  "application_number": "US-201314074945-A",
  "family_id": "42038486",
  "cited_by_count": 7,
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