Platform traversal system

Abstract

A system (200) including a self-propelled platform (202) is provided that is traversable over a first track (212) of a first vehicle (206) and a first track (216) of a second vehicle (208), the first track of the first vehicle and the first track of the second vehicle being separated in a spaced apart relationship. The self-propelled platform has a wheel assembly (215) that is engageable with the first track of the first vehicle and the first track of the second vehicle. The wheel assembly can include at least one guide rail (332) that extends away from the self-propelled platform and is sized and shaped to engage the first track of the first vehicle or the first track of the second vehicle to guide the wheel assembly onto the first track of the first vehicle or the first track of the second vehicle when a portion of the self-propelled platform remains on the first track of the first vehicle and the first track of the second vehicle.

Description

Technical Field

[0001] The subject matter described in this article relates to a system comprising a self-propelled platform capable of traveling over gaps between vehicles in a vehicle system. Background Technology

[0002] Some vehicle systems provide two or more vehicles that are coupled and aligned with each other, and can transport goods, materials, etc., over long distances. In one example, a rail vehicle may consist of many vehicles, each containing a separate vehicle that can be used to tow materials such as coal, grain, soil, or ore from one location to another. In other examples, mining vehicles, off-road vehicles, agricultural vehicles, etc., can be coupled with each other in a similar manner to transport materials.

[0003] Once the vehicle system is ready for unloading, a self-propelled platform can be used to assist in unloading material. The self-propelled platform travels along the top of the vehicle's tracks and includes implements such as excavators to assist each vehicle in removing material. For such self-propelled platforms moving from one vehicle to another, a bridging device must be positioned between the two vehicles, and the self-propelled platform travels on this bridging device to reach the second vehicle. The bridging device can be an elongated piece of material that spans between corresponding tracks on the two vehicles. These bridging devices are not only often bulky and difficult to handle, but each one must also be securely fastened to each vehicle. When many vehicles (e.g., dozens) are in a single vehicle system, this process is labor-intensive and requires a significant amount of time. Furthermore, the self-propelled platform can only be used to remove material after all bridging devices are in place and secured. Therefore, material removal results in a time-consuming process. Additionally, after using the self-propelled platform, the bridging devices must subsequently be removed to allow the vehicle to move (if the bridging devices cannot handle changes in alignment and spacing that occur during vehicle movement). Furthermore, the process can be time-consuming, labor-intensive, and cause significant delays. A self-propelled platform system may be required, providing the ability to move between vehicles within a vehicle system that differs from those currently known. Summary of the Invention

[0004] According to one embodiment, a system is provided that may include a self-propelled platform traversing a first track and a second track of a first vehicle, the first track and the second track being spaced apart. The self-propelled platform may include a wheel assembly capable of engaging the first track and the second track. The wheel assembly may include at least one guide rail extending away from the self-propelled platform, and its size and shape are configured to engage with the first track or the second track of a second vehicle when a portion of the self-propelled platform is held on the first track and the second track of the first vehicle, to guide the wheel assembly onto the first track or the second track of the second vehicle.

[0005] According to one embodiment, a system is provided that may include a self-propelled platform traversing a first track and a second track of a first vehicle, the first track and the second track being spaced apart. The self-propelled platform may include a wheel assembly capable of engaging the first track and the second track. The wheel assembly may include a first wheel assembly having a plurality of first wheels and a first guide rail extending away from the self-propelled platform. The size and shape of the first guide rail may be configured to engage with the first track of a second vehicle to guide the self-propelled platform onto the first track of the second vehicle. The system may include a second wheel assembly having a plurality of second wheels and a second guide rail extending away from the self-propelled platform. The size and shape of the second guide rail may be configured to engage with the second track of the second vehicle to guide the self-propelled platform onto the second track of the second vehicle.

[0006] According to one embodiment, a system is provided that may include a self-propelled platform coupled to an excavator and traversing a first track and a second track of a first vehicle. The first track and the second track may be spaced apart. The self-propelled platform may include a wheel assembly capable of engaging the first track and the second track. The wheel assembly may include a first wheel assembly having a plurality of first wheels and a first guide rail extending away from the self-propelled platform. The size and shape of the first guide rail may be configured to engage with the first track of a second vehicle to guide the self-propelled platform onto the first track of the second vehicle. The wheel assembly may further include a second wheel assembly having a plurality of second wheels and a second guide rail extending away from the self-propelled platform. The size and shape of the second guide rail may be configured to engage with the second track of the second vehicle to guide the self-propelled platform onto the second track of the second vehicle. Attached Figure Description

[0007] The subject matter of the invention can be understood by reading the following description of non-limiting embodiments with reference to the accompanying drawings, in which:

[0008] Figure 1 This is a schematic diagram of a transportation vehicle system;

[0009] Figure 2 A side perspective view of a system including a self-propelled platform for a vehicle system;

[0010] Figure 3 A top perspective view of a self-propelled platform used in a vehicle system;

[0011] Figure 4 A bottom perspective view of a self-propelled platform used in a vehicle system;

[0012] Figure 5 A bottom perspective view of the wheel assembly of a system that includes a self-propelled platform for a vehicle system;

[0013] Figure 6 A schematic diagram of the control system for a self-propelled platform system comprising a vehicle system; and

[0014] Figure 7 This is a schematic block flowchart illustrating the process of moving a system containing a self-propelled platform between vehicles in a vehicle system. Detailed Implementation

[0015] One or more embodiments of the subject matter described herein relate to a system that may include a self-propelled platform capable of traveling between vehicles in a multi-vehicle system. The self-propelled platform may include a wheel assembly having four independent wheel assemblies, each of which can engage with a first track on a first vehicle and a second track on a second vehicle. Each wheel assembly may include a guide rail extending away from its respective wheel assembly. The size and shape of each wheel assembly may be configured such that, as the platform moves from the first vehicle to the second vehicle, the guide rail engages and captures the corresponding track of the second vehicle. The guide rail aligns the wheel with the corresponding track. The guide rail may extend upward to ensure that, even if the first and second vehicles are at different heights, the guide rail can engage with the corresponding track to place the wheel on the corresponding track of the second vehicle. During platform transitions, the wheel assembly itself holds one of the multiple wheels on the first track until another wheel of the wheel assembly engages with the second track. During operation, the wheel assembly supports the platform such that initially all wheels are on the first track, then at least one wheel is on the first track and at least one is on the second track, and finally all wheels of the wheel assembly are on the second track. In this way, different structures, such as bridging devices, do not need to be placed between the first and second vehicles to support the platform and allow the platform to move from the first vehicle to the second vehicle.

[0016] A suitable self-propelled platform may include an implement rotatably coupled for movement on the platform. Examples of implements may include one or more of the following: excavators with buckets or scoops, pickups, lawnmowers, sprayers, etc. In one embodiment, the implement may be a robotic arm.

[0017] Figure 1 A schematic diagram illustrating an example of a vehicle system 100 according to an embodiment of the present invention. Figure 1 The vehicle system is illustrated as a rail vehicle. In other embodiments, suitable vehicle systems may be off-road vehicles, construction vehicles, mining vehicles, ships, etc. The vehicle system may comprise two or more vehicles. The vehicle system may travel along route 104 during a journey from a starting or departure position to a destination or arrival position. In the illustrated example, the vehicle system may include a propulsion-generating vehicle 108 and a non-propulsion-generating vehicle 110. These vehicles may be mechanically interconnected to travel together along the route. In another embodiment, the vehicles in the vehicle system may be logically or virtually coupled together, rather than mechanically coupled. For example, the vehicles may communicate with each other to coordinate their movement, allowing them to move together as a fleet, convoy, swarm, aircraft fleet, or formation without being mechanically coupled to each other via couplers.

[0018] Figure 2 A system 200 with movable equipment is described. In one example, the system is a bogie system. The system may include a self-propelled platform 202 movable along a plurality of vehicles of a vehicle system 204. In one example, the self-propelled platform may be self-propelled because it can move without an external force providing power. Depending on the embodiment and application, the power source may be mechanical, hydraulic, electrical, etc., to move the self-propelled platform along the vehicles of the vehicle system. In various embodiments, the self-propelled platform may be controlled by a remote controller, including manual input, autonomous operation, etc.

[0019] During operation, the self-propelled platform can travel from one vehicle in the vehicle system to another. This could be from the first vehicle 206 to the second vehicle 208, and other vehicles. In this example, the system is on the first vehicle, and the second vehicle is to the right of the first vehicle. The system, and specifically, the self-propelled platform traverses along the first track 212 and the second track 214 of the first vehicle. The first track and the second track are spaced apart from each other and, in one example, include the periphery of the first vehicle. In one example, the first track and the second track are parallel and spaced apart from each other, and the self-propelled platform extends between the first track and the second track, wherein components of the wheel assembly 215 contact the first track and the second track. Components of the first track and the second track that contact the wheel assembly may include tracks, treads, tires, wheels, bearings, casters, etc. The component can provide coupling with a first track and a second track of the first vehicle, which allows the movement of the self-propelled platform using the wheel assembly to simultaneously secure the self-propelled platform to the first track and the second track to prevent the self-propelled platform from moving perpendicular to the first vehicle.

[0020] Similar to the first vehicle, the second vehicle may include a first track 216 and a second track (not shown), wherein the first track of the second vehicle is aligned with and corresponds to the first track of the first vehicle, and the second track of the second vehicle is aligned with and corresponds to the second track of the first vehicle. In this manner, the self-propelled platform can travel from the first and second tracks of the first vehicle, across gap 224, onto the first and second tracks of the second vehicle, such that a portion of the self-propelled platform remains on the first and second tracks of the first vehicle, while another portion of the self-propelled platform contacts and can be on the first and second tracks of the second vehicle. Once the self-propelled platform has fully moved across the gap, the wheel assembly that was in contact with the first track of the first vehicle now contacts the corresponding first track of the second vehicle, and the wheel assembly that was in contact with the second track of the first vehicle now contacts the corresponding second track of the second vehicle.

[0021] The system may include an appliance 230 coupled to a self-propelled platform. Suitable appliances may be, for example, excavators, shovels, spades, pick-ups, brushes, sprayers, etc., which can assist in the movement, unloading, handling, and disposal of materials. In one example, the appliance is an excavator, which may include a shovel at the end for picking up and unloading materials from a corresponding vehicle. Alternatively, the appliance may be used to push materials out of an opening in a vehicle, wash materials, handle materials, break down materials, etc. In one example, the appliance is rotatably coupled to the self-propelled platform to provide 360° movement. The appliance may include stop elements that restrict the movement of the appliance or lock the appliance in a fixed position. The appliance may include manual input, remote input, remote control, a seating compartment for the operator, etc. In one example, the appliance may be controlled by the same controller that controls and operates the self-propelled platform. In one example, the appliance may be a first appliance that can be detached from the self-propelled platform and replaced by a second appliance. In each case, the self-propelled platform travels across multiple vehicles, so the apparatus can be used to provide the functions of apparatus related to materials, cargo, etc. within the vehicles.

[0022] In another example, the wheels include a braking mechanism and a locking mechanism. The braking mechanism can obtain data or information from sensors associated with each wheel assembly or the system itself. In one example, the sensors can be used to determine whether the clearance is too large, whether misalignment has occurred between the tracks of adjacent vehicles, etc. In this way, if a threshold reading (e.g., pressure reading, force reading, etc.) is detected or not detected, the braking mechanism can automatically brake and stop the system to prevent the system from disengaging from the vehicle system, thereby preventing misalignment, etc. In one example, the sensors must always detect a threshold number of wheels in contact with the track; otherwise, the braking mechanism will automatically stop the system. The locking mechanism can be a pin element, brake, stop element, etc., used to prevent the system from moving on the first and second tracks of the vehicle. Once the system is in a working position for tasks such as unloading, washing, or processing, the locking mechanism secures the system in the proper position on the first and second tracks to prevent further movement, thereby facilitating the operation.

[0023] Figures 3 to 5 This illustrates different views of the example self-pushing platform 300. Figures 3 to 5 The apparatus is not described in this example to provide a better illustration of the instance coupling between the self-propelled platform and the apparatus, and to provide a better illustration of the other components of the self-propelled platform. In one example, Figures 3 to 5 The self-propelled platform is Figure 2 The self-propelled platform described in the document.

[0024] The self-propelled platform may include a frame 302 supporting a base plate 304 for housing and coupling a device 306. The base plate may extend from a first end 308 to a second end 310. In one example, the coupling device is located at the center of the base plate and serves to house and couple an implement to the base plate. In one such example, the implement may be an excavator. Figures 3 to 5 In this example, the coupling device is used to house an appliance that can rotate around a base plate. Alternatively, other coupling devices may be provided for other types of appliances, movements, etc.

[0025] The system may include a platform mover 311 for actuating coupling and fastening to a wheel assembly 312. The selection of the platform mover may be based at least in part on application-specific parameters and requirements. Suitable platform movers may be mechanical, electric, hydraulic, etc. The platform mover is responsible for the movement of the self-propelled platform. The wheel assembly includes a first wheel assembly 314, a second wheel assembly 316, a third wheel assembly 318, and a fourth wheel assembly 320. In an example, the first wheel assembly is located at a first end of the base plate and aligned with a second wheel assembly at a second end of the base plate. Conversely, the third wheel assembly is located at a first end of the base plate and aligned with a fourth wheel assembly at a second end of the base plate.

[0026] like Figure 5 As described, each wheel assembly may include a channel 322 comprising a first wall 324 and a second wall spaced apart. In one example, at least one of the first wall and / or the second wall is fastened to a frame and / or a base plate. The width of the channel between the first wall and the second wall is greater than the width of at least one track of the vehicle. In one example, at least one track may be disposed between the first wall and the second wall, wherein the first wall and the second wall extend through opposite edges of the track.

[0027] Multiple wheel elements 326A, 326B, 326C, 326D, and 326F are disposed within a channel between the first and second walls. In one example, two of the five wheel elements are drive wheels, while the other three are idler wheels. In other examples, only one or more drive wheel elements may be used. Although five wheel elements are described, more or fewer wheel elements may be provided in other examples. In other embodiments not shown, the wheel elements may be arranged side-by-side, staggered, spring-loaded, etc. The size and shape of the multiple wheel elements may be configured to contact and move along the top surface of the vehicle's track. Because the first and second walls extend past either edge of the track when the multiple wheel elements contact the top surface of the track, the first and second walls prevent the multiple wheels from moving laterally or left-right off the top surface of the track. In this way, the channel secures the self-propelled platform to the track while allowing the wheel assembly to move along the top surface of the track.

[0028] In one example, multiple wheel elements are spaced apart from each other such that when a first wheel element contacts a first track of a first vehicle, a final wheel element can contact a first track of a second vehicle. In such examples, the wheel element between the first and last wheel elements may not engage with the first track of either the first or second vehicle, and instead may be positioned above a first gap between the first and second vehicles. In this way, the size and shape of the wheel assembly are configured such that a portion of the self-propelled platform is above the first vehicle, while another portion is above the second vehicle. Drive wheels may be positioned at opposite ends of the wheel assembly. During platform transitions, a first drive wheel may disengage from the first track, allowing a second drive wheel, still engaged with the first track, to provide power to the platform. When the first drive wheel engages with the second track, the second drive wheel may disengage from the first track, allowing the first wheel, now in contact with the second track, to provide power to the platform. Similarly, the platform's support and weight distribution shift from the first track to the second track, and the weight distribution of the wheels in the wheel assembly operates in a manner similar to that of a powered system. That is, although all wheels are on the first track, all wheels bear the platform's load. During the transition, the first wheel leaves the first track, and the platform's weight is supported by the remaining wheels (powered and unpowered) until the first wheel engages with the second track. Thereafter, the platform's weight is supported by the various wheels, all of which are in contact with either track.

[0029] Although the transition of wheel assemblies from one track to another occurs on one side of the platform, in one embodiment, another wheel assembly may transition from one track to another on a different track located on the opposite side of the platform. Additionally, if wheel assemblies are present at each of the four corners of the platform, then after the first set of wheel assemblies transitions, a second set of wheel assemblies then transitions to complete the traversal of the platform from the first vehicle to the second vehicle. Some embodiments may have additional sets of wheel assemblies, and therefore the process will be similar to each set transitioning across the gaps between vehicles.

[0030] In one embodiment, the channel extends from a first side 328 to a second side 330 and has a first guide rail 332 extending from the first side and a second guide rail 334 extending from the second side. By arranging five wheel elements together with the first and second guide rails, each wheel assembly can span the gap between the first and second vehicles. In a particular and specific embodiment, the length of each wheel assembly can be greater than one meter (approximately four feet). Additionally, each guide rail can have an elongated body and function similarly to a ski to guide the wheel assembly toward the corresponding track of the adjacent vehicle. Each of the first and second guide rails extends away from the channel. For example, in… Figure 2 In an example, when the second vehicle is on the right side of the first vehicle, the first guide rail (e.g., Figure 4 The right-hand guide rail (in the example) extends away from the passage and toward the second vehicle. In the same example, the second guide rail (e.g., Figure 4 The left guide rail (in the middle) extends away from the passage and toward a third vehicle (not described) to the left of the first vehicle. In this way, when moving toward another vehicle, regardless of whether the vehicle is in front (e.g., Figure 2 (on the right side) or behind (for example, Figure 2 On the left side of the wheel assembly, a corresponding guide rail (e.g., a first guide rail when the system moves to the right or front, a second guide rail when the system moves to the left or rear) is positioned before any of the wheels of the wheel assembly and adjacent to the vehicle (e.g., Figure 2 The second vehicle on the right or front side, and Figure 2 The third vehicle (either on the left or rear of the vehicle) makes contact. The corresponding guide rail (e.g., the first or second guide rail) makes contact with the corresponding track of the adjacent vehicle, so that the channel is guided or placed around the track, so that when the first of the multiple wheels makes contact with the track, the channel is already in place around the track.

[0031] In one example, the guide rail can extend upwards and outwards from the channel. In another example, the guide rail can be inclined upwards or have a generally arcuate shape. In yet another example, the guide rail can be inclined upwards in a straight direction to form a path with generally linear sidewalls. By extending the guide rail upwards, when adjacent vehicles are at different heights, the upward extension ensures that the guide rail still guides the channel around the corresponding track and guides multiple wheels onto the corresponding track. Specifically, the height of adjacent vehicles can vary based on material weight, empty vehicles, etc., such that the upward extension ensures that the wheel assembly transitions appropriately to the next adjacent vehicle without deviating from the track, and does not require a separate bridge structure between adjacent vehicles.

[0032] In another example, the first wall and the second wall each have corresponding guide surfaces 340A and 340B. The guide surfaces may be, for example, arcuate inclined planes. The guide surfaces gradually narrow and / or are shaped such that as the channel moves along the guide rail across the gap and toward the track of an adjacent vehicle, the track is captured by the guide channel to ensure proper spacing of the multiple wheels for contacting the track. Additionally, as the track moves along the guide surfaces of each of the first and second walls, the self-propelled platform is secured in place on the track.

[0033] Figure 6 This describes an example control system 600 for providing a movable appliance. The control system may include a system controller 602 that communicates with an appliance controller 604. The system controller may include one or more processors 606 and a memory 608, which may be a computer-readable storage device or medium. The memory may be located within the housing of the system controller, or alternatively, may be located on a separate device communicatively coupled to a first communication controller and one or more processors therein. "Communicatively coupled" means that two devices, systems, subsystems, assemblies, modules, components, etc., are connected via one or more wired or wireless communication links, such as via one or more conductive (e.g., copper) wires, cables, or buses; wireless networks; fiber optic cables, etc. The first communication controller memory may include a tangible, non-transitory computer-readable storage medium that temporarily or permanently stores data for use by one or more processors. The memory is then available to the one or more processors for accessing the data to make determinations related to different operating modes of the first communication controller.

[0034] The system controller may include a transceiver 610 capable of communicating with appliance controllers and remote controllers. The transceiver may be a single unit or a separate receiver and transmitter. In one instance, the transceiver may only transmit signals, but alternatively it may send (e.g., transmit and / or broadcast) and receive signals.

[0035] The system controller may include an input device 612 and an output device 614. The input device may serve as an interface between an operator or monitor and the one or more processors. The input device may include a display or touchscreen, input buttons, a port for receiving memory, etc. Similarly, the output device may present information and data to the operator, or provide information and data prompts. Likewise, the output device may be a display or touchscreen. In this way, the display or touchscreen can serve as both an input and an output device.

[0036] The system controller may include an appliance application 615. The appliance application may provide instructions to be implemented by one or more processors to operate the appliance. For this purpose, in one embodiment, an appliance controller may not be provided, and the system controller may be used to control the functionality of the appliance. The system controller may include a mobile application 616, which may provide instructions to be implemented by one or more processors to move the system, and particularly to move the self-propelled platform. The mobile application may provide instructions for actuating a platform mover to cause the system to move along or from a first vehicle to a second or third vehicle. In one instance, the mobile application may include machine learning or artificial intelligence algorithms for enabling the system to autonomously move along and from the first vehicle to the second or third vehicle. For this purpose, in one instance, the mobile application and the appliance application may transmit and utilize machine learning and / or artificial intelligence algorithms to coordinate the movement of the system and the operation of the appliance to provide a fully autonomous system.

[0037] An appliance controller may include one or more processors 617, memory 618, transceiver 620, input devices 622, and output devices 624. The appliance controller can operate an appliance. The appliance controller can be operated by a single operator. In one embodiment, the appliance controller can operate autonomously. In one embodiment, the appliance controller may have different operating modes. Suitable operating modes may include a traversal mode, an appliance engagement mode, a hybrid mode, and a travel mode. A traversal mode can be entered to move the platform from one vehicle to another, in which the appliance on the platform can be locked in place or moved to a selected location during the duration of the traversal (e.g., the appliance arm can retract and fold up). An appliance engagement mode can be used, in which the appliance on the platform performs its function. A hybrid mode can be used, in which the appliance is deployed and operating when the platform has at least partially transitioned from one vehicle to another. The travel mode can lock the wheel assembly and / or platform in place (e.g., to a set of tracks on the vehicle), allowing the vehicle to move from one location to another.

[0038] Figure 7 This describes a method 700 for utilizing mobile vehicles on a multi-vehicle system. In one example, the vehicle system is... Figure 1 The vehicle system. In another example, the method may be at least partially derived from... Figure 2 The system or Figure 6 The controller executes.

[0039] At step 702, a system comprising a self-propelled platform and implements is provided on the first vehicle. In one example, the implement may be an excavator capable of removing material from the first vehicle.

[0040] At step 704, the system can be commanded to move from the first vehicle to an adjacent second vehicle. The command can be provided by a system controller, remote controller, or the like. Based on the command, the system moves from a position where all wheel assemblies of the system are in contact with either the first or second track of the first vehicle.

[0041] At step 706, the first wheel assembly and the second wheel assembly at the first end of the system begin to move through the gap between the first and second vehicles. The first wheel assembly includes a first guide rail at the first end, which extends through the gap first, and then any wheels, tracks, etc., of the wheel assembly begin to cross the gap. Similarly, the second wheel assembly includes a first guide rail, which extends through the gap before any wheels, tracks, etc.

[0042] At step 708, the first guide rail of the first wheel assembly engages with the first track of the second vehicle, and the first guide rail of the second wheel assembly engages with the second track of the second vehicle. The first guide rail of each wheel assembly guides the first wheel assembly and the second wheel assembly along the first track and the second track of the second vehicle, respectively. In this way, when the first wheel assembly and the second wheel assembly cross the gap between the first vehicle and the second vehicle, the first wheel assembly and the second wheel assembly remain aligned with the first track and the second track of the second vehicle. At this time, a portion of the system remains on the first vehicle, which is fastened to the first track and the second track of the first vehicle.

[0043] At step 710, the channel of the first wheel assembly captures the first track of the second vehicle, while the channel of the second wheel assembly captures the second track of the second vehicle system. In one example, each channel includes a first wall and a second wall having guide surfaces for sliding against each track as the first wheel assembly and the second wheel assembly begin to move along the first track and the second track of the second vehicle. In this way, the first wheel assembly and the second wheel assembly are secured to the first track and the second track, respectively.

[0044] At step 712, the third wheel assembly and the fourth wheel assembly located at the second end of the system reach the gap between the first vehicle and the second vehicle. Each of the third wheel assembly and the fourth wheel assembly includes a first guide rail that first extends through the gap between the first vehicle and the second vehicle, and then the plurality of wheels, tracks, etc. of the respective third wheel assembly and the fourth wheel assembly reach the gap.

[0045] At step 714, the first guide components of the third and fourth wheel assemblies contact the corresponding first and second tracks of the second vehicle. At this point, a portion of the system is already above the second vehicle because the first and second wheel assemblies are secured to the first and second tracks of the second vehicle, respectively. The first guide components guide the system such that the channels of each of the corresponding third and fourth wheel assemblies contact the first and second tracks, respectively.

[0046] At step 716, as the system continues to move onto the second vehicle, the guide surfaces of the corresponding third and fourth wheel assemblies secure the third and fourth wheel assemblies to the first and second tracks of the second vehicle, respectively. Once secured, the system can engage and move accordingly along the second vehicle.

[0047] A controller for the platform may include sensors or positioners that allow the controller to know the proximity of the platform to the end of a vehicle and / or the end of a track on which the platform rests. The controller may use this information to perform one or more operations. For example, when the platform approaches a defined distance from the end of the track, the controller may notify the operator; the platform may be automatically stopped at or within a defined distance from the end of the track; the platform may be automatically engaged with a traversal operation mode when it reaches the end of the track; an operation command may be sent to the vehicle to perform a defined task during (or before) the traversal; and so on. In one embodiment, the controller signals the power unit of the first and / or second vehicle. For example, the controller may notify the first and / or second vehicle that a traversal is occurring or will occur, and that the vehicle should not attempt to move until the traversal is complete. In other embodiments, the controller receives information from the vehicle's power unit about the presence of current movement, the presence of preemptive movement (to determine whether to initiate a traversal), or the presence of environmental information to be considered. Environmental information may include whether the vehicle's route will soon include a turn, whether infrastructure (bridges, tunnels, etc.) will be encountered, the presence of gradients, roadside equipment, intersections (e.g., intersections with roads), vegetation, and oncoming vehicles on adjacent tracks. Additional information may include which side of the vehicle is involved (e.g., oncoming vehicles on the left or right), whether the vehicle is turning right or left, and the height of any upcoming bridges. Using this information, the controller can modify the operation of the platform and / or equipment.

[0048] In some exemplary embodiments, a system is provided that may include a self-propelled platform traversing a first track and a second track of a first vehicle, the first track and the second track being spaced apart. The self-propelled platform may include a wheel assembly capable of engaging the first track and the second track. The wheel assembly may include at least one guide rail extending away from the self-propelled platform and sized and shaped to engage with the first track or the second track of a second vehicle while a portion of the self-propelled platform is held on the first track and the second track of the first vehicle, to guide the wheel assembly onto the first track or the second track of the second vehicle.

[0049] The self-propelled platform may include an appliance coupling for storing an appliance. In one aspect, the appliance may be an excavator capable of digging material from a first or second vehicle. In another aspect, the first and second vehicles may be coupled and may be part of a rail-mounted vehicle system. In one example, the wheel assembly may include a first wheel assembly having a plurality of wheels aligned with each other and within a channel, the size and shape of which is configured such that a first or second track of the first vehicle is positioned between a first and a second wall of the channel. In another example, a guide rail may extend from the channel of the first wheel assembly. In yet another example, the first wall of the channel may include a first guide surface that guides the wheel assembly onto the first or second track of the second vehicle. In yet another example, the second wall of the channel may include a second guide surface that guides the wheel assembly onto the first or second track of the second vehicle.

[0050] Optionally, the wheel assembly may include: a first wheel assembly that engages with a first track of the first vehicle; and a second wheel assembly aligned with the first wheel assembly and capable of engaging with the first track of the first vehicle. In one aspect, the wheel assembly may include: a third wheel assembly capable of engaging with a second track of the first vehicle; and a fourth wheel assembly aligned with the third wheel assembly and capable of engaging with a second track of the second vehicle. In another aspect, at least one guide rail may be a first guide rail extending from the first wheel assembly and capable of engaging with the first track of the second vehicle. The system may include a second guide rail extending from the second wheel assembly and sized and shaped to engage with the first track of a third vehicle when a portion of the self-propelled platform is held on the first and second tracks of the first vehicle, to guide the wheel assembly onto the first track of the third vehicle, the third vehicle being on one side of the first vehicle and the second vehicle being on the opposite side of the first vehicle. In one example, the system may include a third guide rail extending from the third wheel assembly and sized and shaped to engage with a second track of the second vehicle to guide the wheel assembly onto the second track of the second vehicle. The system may additionally have a fourth guide rail extending from the fourth wheel assembly and sized and shaped to engage with a second track of the third vehicle to guide the wheel assembly onto the second track of the third vehicle. In another example, at least one guide rail may extend upward from the wheel assembly.

[0051] In one or more embodiments, a system is provided that may include a self-propelled platform traversing a first track and a second track of a first vehicle, the first track and the second track being spaced apart. The self-propelled platform may include a wheel assembly capable of engaging the first track and the second track. The wheel assembly may include a first wheel assembly having a plurality of first wheels and a first guide rail extending away from the self-propelled platform. The size and shape of the first guide rail may be configured to engage with the first track of a second vehicle to guide the self-propelled platform onto the first track of the second vehicle. The system may include a second wheel assembly having a plurality of second wheels and a second guide rail extending away from the self-propelled platform. The size and shape of the second guide rail may be configured to engage with the second track of the second vehicle to guide the self-propelled platform onto the second track of the second vehicle.

[0052] Optionally, the first wheel assembly may include a first wall having a first gradually narrowing section and a second wall having a second gradually narrowing section. The first wall may be spaced apart from the second wall to form a first channel sized and shaped such that the first rails of the first vehicle and the second vehicle are positioned within a first channel. In one aspect, the self-propelled platform may include an appliance coupling for housing an appliance. In another aspect, the appliance may be an excavator capable of digging material from either the first or second vehicle.

[0053] In one or more embodiments, a system is provided that may include a self-propelled platform coupled to an excavator and traversing a first track and a second track of a first vehicle. The first track and the second track may be spaced apart. The self-propelled platform may include a wheel assembly capable of engaging the first track and the second track. The wheel assembly may include a first wheel assembly having a plurality of first wheels and a first guide rail extending away from the self-propelled platform. The size and shape of the first guide rail may be configured to engage with the first track of a second vehicle to guide the self-propelled platform onto the first track of the second vehicle. The wheel assembly may additionally include a second wheel assembly having a plurality of second wheels and a second guide rail extending away from the self-propelled platform. The size and shape of the second guide rail may be configured to engage with the second track of the second vehicle to guide the self-propelled platform onto the second track of the second vehicle.

[0054] Optionally, the wheel assembly may include a third wheel assembly having a plurality of third wheels and a third guide rail extending away from the self-propelled platform. The size and shape of the third guide rail may be configured to engage with a first rail of the third vehicle to guide the self-propelled platform onto the first rail of the third vehicle. The wheel assembly may additionally include a fourth wheel assembly having a plurality of fourth wheels and a fourth guide rail extending away from the self-propelled platform. The size and shape of the fourth guide rail may be configured to engage with a second rail of the third vehicle to guide the self-propelled platform onto the second rail of the third vehicle. In one aspect, the excavator is rotatably coupled to the self-propelled platform.

[0055] In some exemplary embodiments, the apparatus performs one or more processes described herein. In some exemplary embodiments, the apparatus performs these processes based on software instructions stored by a computer-readable medium, such as memory and / or storage components, executed by a processor. A computer-readable medium (e.g., a non-transitory computer-readable medium) is defined herein as a non-transitory memory device. A memory device includes memory space located within a single physical storage device or memory space distributed across multiple physical storage devices.

[0056] Software instructions may be read into memory and / or storage components via a communication interface from another computer-readable medium or from another device. When executed, the software instructions stored in the memory and / or storage components cause the processor to perform one or more processes described herein. Alternatively or additionally, hardwired circuitry systems may be used in place of or in combination with the software instructions to perform one or more processes described herein. Therefore, the embodiments described herein are not limited to any particular combination of hardware circuitry systems and software.

[0057] As used herein, the terms “processor” and “computer,” as well as related terms such as “processing device,” “computing device,” and “controller,” may refer not only to those integrated circuits referred to in the art as computers, but may also refer to microcontrollers, microcomputers, programmable logic controllers (PLCs), field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), and other programmable circuits. Suitable memory may comprise, for example, a computer-readable medium. A computer-readable medium may be, for example, random access memory (RAM), a computer-readable non-volatile medium, such as flash memory. The term “non-transitory computer-readable medium” refers to a tangible computer-based device implemented for short-term and long-term information storage, such as computer-readable instructions, data structures, program modules and submodules, or other data in any device. Therefore, the methods described herein may be encoded as executable instructions embedded within a tangible non-transitory computer-readable medium comprising, but not limited to, storage devices and / or memory devices. Such instructions, when executed by a processor, cause the processor to perform at least a portion of the methods described herein. Therefore, the term includes tangible computer-readable media, including but not limited to non-transitory computer storage devices, including but not limited to volatile and non-volatile media, and removable and non-removable media, such as firmware, physical and virtual storage devices, CD-ROMs, DVDs and other digital sources, such as networks or the Internet.

[0058] In one embodiment, the system may deploy a local data collection system that can use machine learning to achieve learning outcomes based on derived data. The communication system can learn from and make decisions based on a set of data (including data provided by various sensors) by performing data-driven predictions and adapting the data. In embodiments, machine learning may involve performing multiple machine learning tasks, such as supervised learning, unsupervised learning, and reinforcement learning, through a machine learning system. Supervised learning may involve presenting a set of instance inputs and desired outputs to the machine learning system. Unsupervised learning may involve learning algorithms that construct their inputs using methods such as pattern detection and / or feature learning. Reinforcement learning may involve a machine learning system that performs in a dynamic environment and then provides feedback on correct and incorrect decisions. In an example, machine learning may include multiple other tasks based on the output of the machine learning system. In an example, the tasks may be machine learning problems, such as classification, regression, clustering, density estimation, dimensionality reduction, anomaly detection, etc. In an example, machine learning may include multiple mathematical and statistical techniques. In examples, many types of machine learning algorithms can include decision tree-based learning, association rule learning, deep learning, artificial neural networks, genetic learning algorithms, inductive logic programming, support vector machines (SVM), Bayesian networks, reinforcement learning, representation learning, rule-based machine learning, sparse dictionary learning, similarity and metric learning, learning classifier systems (LCS), logistic regression, random forests, K-means, gradient boosting, K-nearest neighbors (KNN), prior algorithms, etc. In embodiments, certain machine learning algorithms can be used (e.g., to solve constrained and unconstrained optimization problems that may be based on natural selection). In examples, algorithms can be used to solve mixed-integer programming problems, where some components are restricted to integer values. Algorithms and machine learning techniques and systems can be used in computational intelligent systems, computer vision, natural language processing (NLP), recommender systems, reinforcement learning, building graphical models, etc. In examples, machine learning can be used for vehicle performance and behavior analysis, etc.

[0059] In one embodiment, the system may include a policy engine capable of applying one or more policies. These policies may be at least partially based on the characteristics of the equipment or environment of a given project. Regarding control policies, the neural network may receive inputs of a large number of environmental and task-related parameters. These parameters may include identification of a determined itinerary plan for the vehicle group, data from individual sensors, and location and / or position data. The neural network can be trained to generate outputs based on these inputs, wherein the outputs represent actions or sequences of actions that the vehicle group should take to achieve the itinerary plan. During operation in one embodiment, the inputs can be determined by processing the parameters of the neural network to generate values ​​at output nodes that specify the desired action. This action can be translated into a signal that causes the vehicle to operate. This can be achieved via backpropagation, a feedforward process, closed-loop feedback, or open-loop feedback. Alternatively, the machine learning system of the controller may use evolutionary policy techniques instead of backpropagation to tune various parameters of the artificial neural network. The maintenance system may use a neural network architecture whose functions may not always be solvable using backpropagation, such as non-convex functions. In one embodiment, the neural network has a set of parameters representing the weights of its node connections. Several copies of this network are generated, and then the parameters are tuned differently and simulations are performed. Once the outputs from various models are obtained, their performance can be evaluated using a defined success metric. The optimal model is selected, and the vehicle controller executes the plan to achieve the desired input data, thus reflecting the predicted best-case scenario. Furthermore, the success metric can be a combination of optimization results, which can be weighted relative to each other.

[0060] Unless the context clearly indicates otherwise, the singular forms “a / an” and “described” include a plural reference. “Optional” or “optionally” means that the event or situation subsequently described may or may not occur, and this specification may include cases where the event occurs and cases where the event does not occur. As used herein, approximate language may be used to modify any quantitative representation that is permissible to vary without causing a change in the fundamental function it may involve. Therefore, a value modified by one or more terms such as “about,” “substantially,” and “approximate” may not be limited to the specified precise value. In at least some cases, approximate language may correspond to the precision of the instrument used to measure said value. Here and throughout this specification and its clauses, range limitations may be combined and / or interchanged, and unless otherwise indicated by context or language, such ranges are identifiable and include all subranges contained therein.

[0061] This written description uses examples to disclose embodiments containing the best mode and to enable those skilled in the art to practice the said embodiments, including making and using any apparatus or system and performing any incorporated methods. The clauses define the patentable scope of this disclosure and include other examples known to those skilled in the art. Such other examples are intended to be within the scope of the clauses if they have structural elements that are not different from the literal language of the clauses, or if they contain equivalent structural elements that are not substantially different from the literal language of the clauses.

[0062] The appended numbered items set forth the features and aspects of the invention.

Claims

1. A platform traversal system (200), comprising: A self-propelled platform (202) is configured to traverse from a first track (212) of a first vehicle (206) to a first track (216) of a second vehicle (208), the first track of the first vehicle and the first track of the second vehicle being separated by a spaced relationship; The self-propelled platform includes a wheel assembly (215) having multiple wheels (326A, 326B, 326C, 326D and 326F) configured to engage with a first track of the first vehicle and a first track of the second vehicle. and The wheel assembly includes at least one guide rail (332) configured to engage with the first track of the second vehicle when one of the wheels is held on the first track of the first vehicle, to guide the wheel assembly from the first track of the first vehicle to the first track of the second vehicle. The at least one guide rail extends outward and away from the plurality of wheels in the forward direction of the movement of the self-propelled platform.

2. The system of claim 1, wherein the plurality of wheels of the wheel assembly are aligned with each other and are located within a channel, the size and shape of the channel being configured such that a first track of the first vehicle or a first track of the second vehicle is disposed between a first wall and a second wall of the channel; The first wall of the channel includes a first guide surface configured to guide the wheel assembly onto a first track of the first vehicle or a first track of the second vehicle; The second wall of the channel includes a second guide surface configured to guide the wheel assembly onto a first track of the first vehicle or a first track of the second vehicle.

3. The system of claim 1, wherein the at least one guide rail extends from the channel of the wheel assembly.

4. The system of claim 1, wherein the wheel assembly comprises: a first wheel assembly configured to engage with a first track of the first vehicle; and a second wheel assembly aligned with the first wheel assembly and configured to engage with the first track of the first vehicle. The wheel assembly includes: a third wheel assembly configured to engage with a second track of the first vehicle; and a fourth wheel assembly aligned with the third wheel assembly and configured to engage with the second track of the first vehicle. The at least one guide rail is a first guide rail that extends from the first wheel assembly and engages with the first rail of the second vehicle. The system further includes a second guide rail extending from the second wheel assembly and sized and shaped to engage with the first track of the second vehicle when a portion of the self-propelled platform is held on the first track of the second vehicle to guide the second wheel assembly onto the first track of the second vehicle. The system further includes: a third guide rail extending from the third wheel assembly and sized and shaped to engage with a second track of the second vehicle to guide the third wheel assembly onto the second track of the second vehicle; and a fourth guide rail extending from the fourth wheel assembly and sized and shaped to engage with a second track of the second vehicle to guide the wheel assembly onto the second track of the second vehicle.

5. The system of claim 1, wherein the at least one guide rail extends upward from the wheel assembly.

6. The system of claim 1, wherein the self-propelled platform includes an instrument coupling for receiving an instrument; wherein the instrument is an excavator configured to excavate material from the first or second vehicle.

7. The system of claim 1, wherein the first vehicle and the second vehicle are coupled and are part of an orbital vehicle system.

8. A platform traversal system, comprising: A self-propelled platform configured to traverse a first track of a first vehicle and a first track of a second vehicle, the first track of the first vehicle and the first track of the second vehicle being separated by a spaced-out relationship, the self-propelled platform including a wheel assembly configured to selectively engage with the first track of the first vehicle and the first track of the second vehicle; as well as The wheel assembly includes: A first wheel assembly having a plurality of first wheels and a first guide rail extending outwardly away from the plurality of first wheels in the forward direction of the movement of the self-propelled platform, the first guide rail being sized and shaped to engage with the first track of the second vehicle to guide the self-propelled platform onto the first track of the second vehicle. as well as The second wheel assembly has a plurality of second wheels and a second guide rail extending outwardly away from the plurality of second wheels in the forward direction of the movement of the self-propelled platform. The second guide rail is sized and shaped to engage with a second track of the second vehicle to guide the self-propelled platform onto the second track of the second vehicle.

9. The system of claim 8, wherein the first wheel assembly includes a first wall having a first guide surface and a second wall having a second guide surface, the first wall and the second wall being spaced apart to form a first channel, the size and shape of the first channel being configured such that a first track of the first vehicle and a first track of the second vehicle are disposed within the first channel.

10. The system of claim 8, wherein the self-propelled platform includes an appliance coupling for receiving an appliance; wherein the appliance is an excavator configured to excavate material from the first or second vehicle.

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