Adjustable anchor maintenance workhead

Abstract

A maintenance of way machine and method for operating a maintenance of way machine are disclosed. The maintenance of way machine may include a chassis supporting at least one anchor workhead configured to move longitudinally relative to the chassis to adjust the position of the at least one anchor workhead relative to the longitudinal axis of the rail. The method may include receiving signals from an optical sensor having a defined field of view along a first rail; determining a presence or absence of the anchor within the designated zone based at least in part on the received signals; and transmitting a control signal to an actuator that is configured to adjust an anchor workhead relative to a detected anchor. The position of the anchor workhead may be adjusted without moving the machine along the track.

Description

BACKGROUNDTechnical Field

[0001] This disclosure relates to railroad right-of-way machinery.Discussion of Art

[0002] Conventional railroad track consists of a pair of rails and a plurality of spaced parallel ties, also referred to as sleepers, to which are attached a pair of spaced rail tie plates. The ties are supported in a bed of loose rocks known as ballast. Each rail tie plate may rest on the upper surface of the tie. The rail tie plate includes holes for receiving spikes or screws, as well as a canted seat or a cradle for receiving the bottom or foot of the steel rail. There are a pair of spaced tie plates on each rail tie corresponding to the two rails that make up the railroad track. Some of the spikes may secure the tie plate on the rail tie, and others may secure the rail foot to the tie plate cradle. A retaining device, known as an anchor, clamps onto the rail. Rail anchors are typically applied in pairs, one on each side of a rail tie to resist longitudinal movement of the rail relative to the supporting tie. Anchors may dig into the tie to provide additional support.

[0003] In the course of rail maintenance, wooden ties are often replaced by pulling them transversely from beneath the rails. A part of this operation is the mechanical spreading of the anchors laterally away from edges of the tie to facilitate old tie removal and the insertion of new tie. Upon replacement of the tie, the previously spread anchors are mechanically squeezed into place to secure the new tie. Typically, railroads employ distinct, single task-oriented machines in this process, such as a machine for spike pulling, a machine for anchor spreading, a machine for tie removal, a machine for tie insertion, a machine for driving spikes, and / or a machine for anchor squeezing, for example. In certain instances, a machine may have a workhead adapted to receive interchangeable task-specific tools, such as an anchor spreading tool and an anchor squeezing interchangeably.

[0004] The group of machines performing rail maintenance may be referred to as a gang. A right of way maintenance gang requires significant manpower to operate and alignment of each machine with the respective rail components may be tedious and time consuming for the operators.

[0005] It may be desirable to have an anchor maintenance tool that differs from those that are currently available.BRIEF DESCRIPTION

[0006] One general aspect includes a maintenance of way machine. The maintenance of way machine includes at least one wheel rotatable about an axle and movable along a first rail defining a longitudinal axis. The maintenance of way machine further includes a chassis mounted to the axle, and the chassis supports at least one anchor workhead, and the anchor workhead is configured to move longitudinally relative to the chassis.

[0007] Implementations may include one or more of the following features. The maintenance of way machine where the anchor workhead supports one or more selectively interchangeable anchor tools. The chassis supports both a first anchor workhead, and a second anchor workhead that is configured to independently move longitudinally relative to the chassis. The maintenance of way machine may include an actuator supported by the chassis and positioned to move the anchor workhead longitudinally along the chassis. The maintenance of way machine may include an optical sensor positioned to capture a zone along the first rail within a field of view and to generate sensor signals indicative of the field of view. The maintenance of way machine may include or be coupled to a control circuit that is able to receive the sensor signals from the optical sensor and detect a presence or absence of at least one anchor in the zone along the first rail based at least in part on the received sensor signals. The control circuit may further be able to determine a misalignment between at least one anchor workhead and at least one anchor in the zone and initiate an adjustment of the position of the anchor workhead along the chassis based at least in part on the determined misalignment. The control circuit may utilize object recognition data or machine learning techniques to detect the presence or absence of at least one anchor in the zone and / or effect a control signal to the workhead based on the detection.

[0008] One general aspect includes a method. The method includes receiving signals from an optical sensor having a defined field of view along a first rail, the signals indicating the presence or absence of an anchor within the defined field of view, and the defined field of view including a designated zone. The method also includes determining a presence or absence of the anchor within the designated zone based at least in part on the received signals. The method also includes transmitting a control signal to an actuator that is able to adjust an anchor workhead relative to a detected anchor. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The subject matter described herein may be understood from reading the following description of non-limiting embodiments, with reference to the attached drawings, wherein:

[0010] FIG. 1 is a perspective view of a first side of an anchor maintenance workhead according to various aspects.

[0011] FIG. 2 is a perspective view of a second side of the anchor maintenance workhead of FIG. 1 according to various aspects.

[0012] FIG. 3 is an elevation view of a right of way machine including a maintenance workhead according to various aspects.

[0013] FIG. 4 is a plan view of the right of way machine of FIG. 3 according to various aspects.

[0014] FIG. 5 is a flowchart of a method of operating a maintenance of way machine according to various aspects.DETAILED DESCRIPTION

[0015] This disclosure relates to railroad right-of-way maintenance machinery. Right-of-way machines may be used for spike pulling, anchor spreading, tie removal, tie insertion, driving spikes, and / or anchor squeezing, for example. A gang performing rail maintenance may include a number of maintenance of way machines. For example, an anchor spreading machine may follow a spike pulling machine, and an anchor squeezing machine may follow a spiker machine.

[0016] Tie arrangement may vary from track to track and along the length of a track due to installation variations and / or the inconsistent wear and sporadic replacement of ties over time. It may be tedious, time-consuming, and labor-intensive to align the workhead of the anchor spreading machine and / or anchor squeezing machine in the gang with the ties and anchors therefor.

[0017] In various instances, the maintenance of way machine for spreading and / or squeezing anchors may include an adjustable workhead. The adjustable workhead may be moved longitudinally relative to a chassis of the machine to facilitate alignment of the workhead relative to the target, i.e. the anchors. In such instances, the adjustable workhead may be adjusted without moving the entire machine and, thus, without moving other machines of the gang.

[0018] In certain instances, the position of the adjustable workhead relative to the chassis may be set for a segment of the track and maintained throughout the maintenance operation for that segment of the track. The gang and positioning of the workheads along the machines in the gangs may be set up at the outset of the maintenance operation, for example. For example, the position of the adjustable anchor workhead may be set based on the track such that a tie puller working ahead of an anchor spreader may pull the ties as the anchor spread working behind the tie puller spreads the anchors without repositioning the tie puller and the anchor spreader between the respective operations along the gang. Similarly, a spiker working ahead of an anchor squeezer may install the spikes as the anchor squeezer working behind the spiker squeezes the anchors without repositioning the spiker and the anchor squeezer between their respective operations along the gang. In such instances, the maintenance operation may be completely autonomous. In various instances, the machines (e.g. anchor spreader, spike puller, tie extractor, anchor squeezer, and / or spiker) may communicate with each other regarding the position of each tie, tie plate, and / or anchors.

[0019] An adjustable workhead of an anchor right of way machine may be adjusted manually or automatically. In various aspects, computer vision may utilize object recognition and other vision techniques to confirm proper alignment and / or determine an amount of misalignment between the workhead and a target. A control circuit may provide an alert or recommendation to the operator regarding a detected misalignment and, in various instances, may automatically adjust the position of the workhead relative to the chassis based on the detected misalignment.

[0020] In various instances, adjustability of the workhead may improve the efficiency of a gang. For example, a gang may cover an area of the track more efficiently and, in various instances, may use less gang manpower to complete the track maintenance.

[0021] Referring to FIGS. 1 and 2, a railroad track 16 and an anchor maintenance workhead, more specifically an spreader / squeezer workhead 100, is shown. The railroad track includes a pair of spaced rails 12 resting on tie plates 10 located upon transversely-arranged ties 20. Suitable ties can be made of wood or concrete and require periodic replacement. The selection of tie materials can affect specifications for various aspects of the workhead. The rails and the tie plates are secured to the ties by fasteners (e.g. spikes). The space between the pair of longitudinally-extending rails is referred to as the gage area, and the space external to the pair of longitudinally-extending rails is referred to as the field area, so each rail has a gage side and a field side.

[0022] The railroad track can include pairs of anchors 14 located on sides of selected rail ties. Suitable anchors may be crescent-shaped clips of metal (e.g. steel) that are structured and dimensioned to frictionally grasp the rail adjacent to the tie. When provided on either side of the tie, the anchors prevent linear misalignment or racking of the railroad track during use.

[0023] A tie may be replaced during rail maintenance. To replace the tie, the fasteners (e.g. spikes) can be removed, then the anchors can be spread apart from the tie to create a clearance, then the tie can be removed transversely relative to the rails.

[0024] The workhead can be interchangeably used for receiving a tool for anchor spreading or for anchor squeezing. Alternative workheads are contemplated for various maintenance of way machines. In various instances, the workhead includes a non-interchangeable tool and / or a tool for a different track maintenance operation, for example.

[0025] The workhead may be mounted to the chassis of a machine for maintaining a railroad track. In various instances, the workhead may be moved relative a chassis between a lifted or travel position, spaced away from the rails, and a lowered or working position, spaced relatively closer to the rails, by actuation of a drive cylinder. The drive cylinder may be a hydraulic or pneumatic cylinder.

[0026] The workhead can include a workhead frame 102 and a pair of rail clamps 112 for clamping the workhead frame to the rails. With reference to FIGS. 1 and 2, each rail clamp includes a pair of pincer arms 110 connected by clamp cylinders 104 transversely mounted relative to the rail between upper ends of the arms. Each pincer arm is connected to the workhead frame at a pivot bracket 108 including a pivot pin generally parallel to the rail. Operation of the clamp cylinders may be controlled by a control circuit. In general, extension of the clamp cylinders spreads the upper ends of the pincer arms, creating a clamping force. Similarly, retraction of the clamp cylinders brings together the upper ends of the pincer arms, releasing the clamping force on the rail.

[0027] The workhead defines a work zone 130, which is defined between a pair of opposed brackets 120. Each of the opposed brackets can include a tool mount 122 for attachment of an anchor tool (e.g. anchor spread, anchor squeezer, or anchor spreader and squeezer). At least one of the opposed brackets is a sliding bracket that reciprocates longitudinally in the direction of the rails along at least one guide shaft 118 (FIG. 2). In other words, the operation of the opposed bracket(s) is along an operational axis that is parallel to a longitudinal rail axis defined by the rails.

[0028] A drive cylinder 106 is positioned to slide the at least one sliding bracket relative to the other of the opposed brackets for anchor spreading or squeezing, for example. In various instances, a pair of drive cylinders may be oriented parallel to the rails and in opposing relationship to each other. In other words, ends of corresponding rods of the cylinders may be disposed to face each other. However, in some applications the disposition of the drive cylinders can be reversed, with the cylinder bodies facing each other. The drive cylinders are disposed between and generally parallel to the guide shaft(s). The orientation may be selected with reference to end use parameters.

[0029] Referring to FIGS. 3 and 4, a workhead 200 is supported by a machine 280 as shown in relation to a railroad track. The machine may be towable. For example, the machine may be towed by a powered vehicle. In other instances, the machine may be self-propelled. The machine and / or vehicle towing the machine may be able to measure the distance the machine has moved along the track. For example, the machine and / or the vehicle towing the machine may have a ground distance encoder, GPS capabilities, and / or a similar system to measure distance traveled along the track.

[0030] The machine is a maintenance of way machine for performing maintenance tasks along a track. The functionality of the machine may depend on the workhead selection. In various instances, the workhead may be an anchor maintenance workhead or an anchor spreader / squeezer workhead.

[0031] In various instances, the machine can support plural workheads. In one embodiment, it supports one workhead associated with each of the rails. In other instances, the machine may only support a single workhead or more than two workheads.

[0032] The workhead may support one or more selectively interchangeable anchor tools, as further disclosed herein. For example, the workhead may include tool mounts for releasably supporting anchors tools to and / or squeeze anchors. In various instances, the workhead includes a pair of brackets and at least one backet is slidably supported on at least one support shaft of the workhead that extends parallel to the rails. Each bracket may include a distal end for supporting one of the interchangeable anchor tools. The interchangeable anchor tool may be an anchor spreader, an anchor squeezer, or both an anchor spreader and anchor squeezer.

[0033] The machine further includes a chassis 250 mounted to the axle, and the chassis supports the workhead, which is able to move longitudinally relative to the chassis. The machine includes at least one wheel 252 rotatable about an axle 254 and movable along the rails, which define a pair of longitudinal and parallel rail axes A1, A2. More specifically, the machine and chassis thereof are movable longitudinally along the rails, and the workhead is further movable longitudinally relative to the chassis. In such instances, the longitudinal position of the workhead relative to the rail is dependent on the position of the chassis relative to the rail and the position of the workhead relative to the chassis.

[0034] The workheads are movable independently relative to each other and the chassis. For example, one of the workheads may remain in position while the other workhead moves longitudinally relative to the chassis. In such instances, the longitudinal position of each workhead relative to the chassis is independent and the workheads may be longitudinally staggered relative to each other. Independent longitudinal adjustment of each workhead may be referred to as workhead spotting.

[0035] The workheads are movable along shafts 260 extending longitudinally along the chassis. The shafts may be supported at first and second ends of the chassis (e.g. a front and rear end of the chassis).

[0036] The machine includes workhead actuators 262 for moving the workheads relative to the chassis. More specifically, the machine includes a workhead actuator for each workhead. The workhead actuators may be hydraulic actuators. The workhead actuators are supported by the chassis and positioned to move the respective workhead longitudinally relative to the chassis. The workhead actuators are separately actuatable.

[0037] In certain aspects, the workhead may be movable within the bounds of the machine by a chain and belt drive extending between the forward and rearward ends

[0038] In various instances, each workhead is movable longitudinally at least six feet along the chassis. In other instances, the range of motion of the workhead relative to the shaft and chassis may be at least eight or ten feet. In still other aspects, the range of motion of the workhead relative to the chassis may less than six feet, such as approximately four feet. The range of motion of the workhead relative to the chassis may be selected to maximize the ability to perform a track maintenance function (e.g. anchor spreading or squeezing) without moving the chassis along the rail. For example, longitudinal adjustment of the workhead up to six feet within the bounds of the chassis may allow a majority to be within range for anchor spreading and / or squeezing based on random tie alignment. An example tie change density may be in a range of up to 1000 ties / mile.

[0039] The machine includes a hitch 264 positioned and structured to couple the chassis to another vehicle. For example, the machine may be towed by the hitch behind a vehicle that is configured to perform as one or both of a spike puller and a spiker. In other aspects of the present disclosure, the machine may be self-propelled.

[0040] In various aspects, the machine includes at least one optical sensor 258 for each workhead. Each optical sensor is positioned to capture a zone along the rail within a field of view 259 and to generate sensor signals indicative of the field of view. As depicted in FIG. 4, for example, a first optical sensor is positioned to capture a first zone along a first rail and first longitudinal axis A1 within a second field of view for the first workhead, and a second optical sensor is positioned to capture a second zone along a second rail within a second field of view for the second workhead.

[0041] Optical sensors include, but are not limited to, Charge-Coupled Device (CCD) sensors and Complementary Metal-Oxide Semiconductor (CMOS) sensors. Components of the optical sensor may include one or more illumination sources and / or one or more lenses. The one or more illumination sources may be directed to illuminate the field of view. The one or more illumination sources may be able to radiate electromagnetic energy in the visible spectrum as well as the invisible spectrum. The one or more image sensors may receive light reflected or refracted from within the field of view, including light reflected or refracted from the workhead, the track, and / or the natural environment.

[0042] The sensor signals from the optical sensor may be transmitted to a control circuit 270 for processing. For example, the control circuit may be able to receive the sensor signals from the optical sensor and detect a presence or absence of at least one anchor in the zone along the first rail based at least in part on the received sensor signals.

[0043] In some implementations, identification of the anchors in the field of view may be attained through various suitable object recognition, object tracking, object labeling, and / or other image processing techniques. For example, previously-stored images of the anchors, rails, tie, and tie plates may be utilized to identify anchors in the field of view. The control circuit may utilize a pattern recognition system or machine learning system (e.g., an artificial neural network) that has been trained on training data to correlate various inputs (e.g., imaging data obtained by the optical sensor) to corresponding contextual information regarding the placement of the workhead relative to a target and, more specifically for example, the positioning of a work zone defined by the workhead relative to an anchor to be worked by the workhead in the work zone. Pattern recognition, machine learning, and lookup tables may be utilized by the control circuit to identify the anchors in the field of view.

[0044] In various instances, the control circuit is further able to determine a misalignment between at least one workhead and at least one anchor in the zone and, based at least in part on the determined misalignment, transmit an actuation signal to the workhead actuator to adjust the position of the workhead along the chassis. To determine the misalignment between a workhead and an anchor to be worked by the workhead, the control circuit may determine a distance between a work area and the detected position of the anchor in the zone, then comparing the distance to a distance threshold and determining the degree of misalignment based on the comparison.

[0045] An adjustment to the position of the anchor workhead along the chassis may be initiated by the control circuit when the comparison of the distance to the distance threshold corresponds to an out-of-range value. Similarly, the control circuit may not send an actuation signal to the workhead actuator when the comparison of the distance to the distance threshold corresponds to an in-range value. An in-range value may correspond to a degree of misalignment between the detected anchor and the work zone that does not interfere with the operation of the workhead.

[0046] In various instances, the position of the optical sensor and / or the workhead relative to the chassis may be calibrated. The control circuit may be able to receive calibration signals from the optical sensor based on the position of a fixed target or alignment mark within the field of view. For example, the mark can be viewable within the video feed obtained by the optical sensor. Motion of the workhead can be calibrated relative to the mark within the video feed. In certain instances, the workhead can be moved into contact with the mark and detection of contact between the workhead and the mark can provide an absolute point of reference for the position of the workhead. The control circuit may further be able to calibrate the position of the at least one anchor workhead relative to the at least one anchor within the field of view based at least in part on the calibration signals. As an example, during regular use, the optical sensor may move (e.g. be bumped, jostled, rotated, etc.). To calibrate the position and orientation of the optical sensor and, thus, the field of view thereof, the optical sensor may detect the fixed target and compare the position of the fixed target relative to the expected or previous position of the fixed target. The calibration signals may accommodate for a deviation in position based on the comparison.

[0047] The optical sensor may be fixed in place on the workhead. In other instances, the optical sensor may be movably mounted to the workhead to adjust the field of view. For example, the optical sensor can translate along the workhead or pivot relative to the workhead. In certain instances, one or more optical sensor can be fixed and one or more optical sensor can be movable.

[0048] The machine may include a sensor 170 in various instances. Referring to FIGS. 1 and 2, for example, the machine may include the sensor disposed within the anchor workhead. A control circuit (e.g. the control circuit 270 in FIG. 4) may receive pressure sensor data from the pressure sensor as feedback data. The control circuit may determine a status and / or condition of the workhead and / or machine based on the feedback data. For example, the control circuit, upon processing of the feedback data, may determine the anchor workhead is actively making contact with the anchor, the anchor workhead is actively slipping off the anchor after contacting the anchor, or the anchor workhead is applying more force against the anchor than a determined threshold force value.

[0049] A method of operating a maintenance of way machine, such as the machine in FIGS. 3 and 4, may include adjusting a workhead of the machine based on signals from an optical sensor. For example, without moving the machine (or the gang) along a track, the position of the workhead may be adjusted based on signals from the optical sensor. Referring primarily to FIG. 5, a method 300 for operating a maintenance of way machine is shown. The method includes receiving, at step 302, signals from an optical sensor having a defined field of view along a rail where the signals indicate the presence or absence of an anchor within the defined field of view, which includes a designated zone. The designated zone may correspond to a work zone of a workhead of the machine (e.g. the zone in which anchors are separate and / or squeezed).

[0050] The method further includes, at step 304, determining a presence or absence of the anchor within the designated zone based at least in part on the received signals. In various instances, determining the presence or absence of the anchor may be based on a comparison of the received signals from the optical sensor to pre-stored object recognition data. For example, the control circuit may compare the received signals to pre-stored object recognition data stored in a memory that is communicatively coupled to the control circuit. In certain aspects, the method may further include training a machine learning model to detect the presence or absence of the anchor within the field of view, utilizing a dataset of anchor images. In still other instances, the method includes using a pre-trained machine learning model.

[0051] In various instances, the control circuit may utilize a pattern recognition system or machine learning system (e.g., an artificial neural network) that has been trained on training data to correlate various inputs (e.g., imaging data obtained by the optical sensor) to corresponding contextual information regarding the placement of the workhead relative to a target and, more specifically for example, the positioning of a work zone defined by the workhead relative to an anchor to be worked by the workhead in the work zone. In other words, a machine learning system may be trained to accurately derive contextual information regarding maintenance of way procedures from the provided inputs. For a particular workhead type, the control circuit may determine or confirm that the workhead is appropriately positioned relative to the target, which may be an anchor for an anchor maintenance workhead, but may be a tie plate or a tie for other maintenance workheads, for example. In various instances, the control circuit may include a lookup table storing pre-characterized contextual information regarding maintenance of way procedures in association with one or more inputs (or ranges of inputs) corresponding to the contextual information. In response to a query with one or more inputs, the lookup table may return the corresponding contextual information for the control circuit. For example, the control circuit may send a calibration signal, adjustment signal, and / or actuation signal to the workhead and / or an alert to a user interface based on the imaging data being processed by the control circuit and the pattern recognition system or machine learning system thereof.

[0052] The method further includes, at step 306, transmitting a control signal to an actuator that is configured to adjust an anchor workhead relative to a detected anchor. For example, the control signal may take the form of a drive signal to the workhead actuator, which may reposition the workhead along the shaft and / or relative to the chassis based on the presence or absence of the anchor within the designated zone and / or the location of the anchor within the designated zone. In other instances, the control signal may take the form of an actuation signal to actuate the workhead to engage the workhead with the anchor in the designated zone.

[0053] The method or portions thereof may be implemented by a control circuit, such as the control circuit 270 (FIG. 4). In other instances, a remote control circuit, e.g. remote to the machine, may effect the method or portions thereof.

[0054] The optical sensor may be calibrated to ensure the position of object(s) visualized in the field of view is accurate or up-to-date based on the position and orientation of the optical sensor relative to the workhead and / or the track. A calibration method may include receiving calibration signals from the optical sensor based on the position of a fixed target within the field of view and calibrating the position of objects in the field of view based on the calibration signals. For example, the position of the anchor workhead relative to the anchor within the designated zone may be calibrated using the calibration signals.

[0055] The fixed target may be a particular object or indicia on the workhead and / or the track. The fixed target can act as a registration mark or alignment aid for ascertaining the position of the workhead relative to the track. The registration mark may be within the optical sensor’s field of view. The workhead can move into contact with the registration mark to further facilitate calibration of the workhead’s position relative to a frame of reference, which can include the fixed target or alignment mark.

[0056] In various aspects, the field of view of the optical sensor is positioned to capture imaging data of the work zone of the workhead. More specifically, the work zone is within the optical sensor’s field of view. The fixed target for calibration purposes is also within the optical sensor’s field of view. The position of the fixed target within the field of view may be used to extrapolate and compute any misalignment of the work zone. For example, if the control circuit determines that the position of the fixed target has changed (e.g. by comparing imaging data obtained at different times), the image sensor may extrapolate the changed position of the work zone relative to the optical sensor. In various instances, the optical sensor may include a stereoscopic camera for determining the changed position. The optical sensor may triangulate the distances to determine the position and / or changed positions. In certain instances, the optical sensor may incorporate depth sensors for determining distance.

[0057] Depending on the misalignment and changed positions, the control circuit may transmit signals to the workhead and / or to a user interface. For example, the control circuit may adjust the detected position of the workhead and / or the work zone thereof, for example, based on the changed position of the fixed target within the field of view. In various instances, the control circuit may actuate the workhead to adjust the work zone thereof relative to an anchor within the field of view. Additionally or alternatively, the control circuit may transmit an alert to a user interface indicating the optical sensor is out of position. In still other instances, the optical sensor may be positioned on a movable mount, which may be configured to slide and / or swivel based on the calibration comparison.

[0058] The terms "control circuit" and “controller” are substitutable with each other and encompasses hardwired circuitry, programmable logic (such as microprocessors, microcontrollers, digital signal processors (DSPs), programmable logic devices (PLDs), programmable gate arrays (PGAs), or field-programmable gate arrays (FPGAs)), state machines, or firmware that executes stored instructions. Control circuits may form part of larger systems, such as integrated circuits (ICs), application-specific integrated circuits (ASICs), or systems-on-chips (SoCs), and may be found in devices such as computers, smartphones, wearable devices, and servers. These circuits may perform tasks involving data processing, communication, or data storage. Depicted components, functions, or operations may be implemented using hardware, software, firmware, or combinations of two or more thereof.

[0059] Instructions for implementing system features may be stored in various types of memory. Suitable memory may include dynamic random-access memory (DRAM), flash memory, and / or cache. These instructions may be distributed over a network or via other computer-readable media. The term "non-transitory computer-readable medium" refers to any physical medium capable of storing or transmitting instructions or information that may be read by a machine. Examples of suitable media include RAM, ROM, EPROM, EEPROM, magnetic or optical media, flash memory, or even propagated signals such as carrier waves or infrared signals.

[0060] In some embodiments, the control circuit may utilize machine learning (ML) techniques to make decisions based on sensor inputs or other data. Suitable ML methods may include supervised learning (with labeled inputs and outputs), unsupervised learning (for identifying patterns), or reinforcement learning (where the system adapts based on feedback). Suitable tasks for ML systems may involve classification, regression, clustering, anomaly detection, or optimization. ML may employ algorithms, such as decision trees, deep learning, support vector machines (SVMs), or neural networks, depending on the application. A suitable control circuit may incorporate a policy engine that applies specific rules based on equipment characteristics or environmental conditions. For instance, a neural network could process sensor data or operational inputs to determine appropriate actions. Techniques such as backpropagation or evolutionary strategies may be used to refine neural network parameters and optimize model selection for the given task.

[0061] In one embodiment, the control circuit (or controller) and system described herein may use machine learning to make determinations and to enable derivation-based learning outcomes. The system may communicate with a data collection system. The control circuit may learn from, model and make decisions / determinations on a set of data (including data provided by various sensors and data collection systems) by making data-driven predictions and adapting according to available data and modeling. Machine learning may involve performing tasks using supervised learning, unsupervised learning, and reinforcement learning systems. Supervised learning may use a set of example inputs and desired outputs to the machine learning systems, where unsupervised learning may use a learning algorithm that is structuring its input with, e.g., pattern detection and / or feature learning. Reinforcement learning may perform in a dynamic environment and then provide feedback about correct and incorrect decisions. Machine learning may include tasks based on certain outputs. These tasks may be machine learning problems such as classification, regression, clustering, density estimation, dimensionality reduction, anomaly detection, and the like to include other mathematical and statistical techniques. Suitable machine learning algorithmic types may include decision tree based learning, association rule learning, deep learning, artificial neural networks, genetic learning algorithms, inductive logic programming, support vector machines (SVMs), Bayesian network, reinforcement learning, representation learning, rule-based machine learning, sparse dictionary learning, similarity and metric learning, learning classifier systems (LCS), logistic regression, random forest, K-Means, gradient boost, K-nearest neighbors (KNN), a priori algorithms, and the like. In embodiments, certain machine learning algorithms may be used (e.g., for solving both constrained and unconstrained optimization problems that may be based on natural selection). In an example, the algorithm may be used to address problems of mixed integer programming, where some components restricted to being integer-valued. Algorithms and machine learning techniques and systems may be used in computational intelligence systems, computer vision, Natural Language Processing (NLP), recommender systems, reinforcement learning, building graphical models, and the like. In an example, machine learning may be used for making determinations, calculations, comparisons and behavior analytics, and the like.

[0062] As mentioned above, the control circuit may include a policy engine. The policies the engine may apply may be based at least in part on characteristics of a given item of equipment or environment. For example, an artificial intelligence system, such as a neural network, may receive input of a number of environmental and task-related parameters. These parameters may include, for example, operational input of the given equipment, data from various sensors, environmental information, location and / or position data, and the like. The neural network may be trained and may generate an output based on these inputs, with the output representing an action or sequence of actions that the equipment or system should take to accomplish the goal of the operation. The control circuit may process the inputs through the parameters of the neural network to generate a value (i.e., make a determination) at the output node designating that action as the desired action, activity, or operating state. An action may translate into a signal that causes the vehicle to operate in a particular manner. The control circuit may accomplish this via back-propagation, feed forward processes, closed loop feedback, or open loop feedback, for example. Alternatively, rather than using backpropagation, the control circuit may use evolution strategies techniques to tune various parameters of the neural network. The control circuit may use neural network architectures that have a set of parameters representing weights of its node connections. A number of copies of this network may be generated and adjustments to the parameters may be made with subsequent simulations. Once the outputs from the various models have been obtained, they may be evaluated on their performance using a determined success metric. The best model or a good-enough model may be selected, and the control circuit may execute that plan to achieve the desired input data to mirror the predicted ‘best outcome’ scenario. Additionally, the success metric itself may be a combination of the optimized outcomes, which may be weighed relative to each other. Success metrics may be dynamically established, and the process rerun and the equipment directions further modified.

[0063] In one embodiment, data may be generated, transmitted, and stored and may involve one or both of a protected space data source and the exposed space data source. The control circuit may encrypt and decrypt data as needed at rest, during use, or in transit. Encryption keys and schema may be selected and implemented as informed by end use parameters and requirements. The control circuit may evaluate and / or identify a decision boundary (that is, a boundary that separates desired behavior from undesired behavior) with regard to that data. If the control circuit determines that some quantity of data is from a protected space data source and / or is operating within determined boundaries then the control circuit, and the equipment being controlled, may operate normally. However, if the data is determined to be from an exposed space data source and / or it crosses the decision boundary, the control circuit may respond. Suitable responses may be to power down determined equipment, signal an alert, run a diagnostic routine, perform a data backup (without overwriting existing backup data), isolate equipment (including by suspending some or all communication pathways), switch equipment or control operations to a safe mode of the control system, and / or initiate a safe mode state of the equipment (e.g., slow a vehicle to a safe and controlled stop). The safe mode may be, in one embodiment, a soft shutdown mode that it intended to avoid damage or injury based on the shutdown itself and in another embodiment may be a reboot and / or minimal reload of essential drivers and functionality.

[0064] In one embodiment, vehicle systems may implement secure authentication processes, encryption protocols, and firewalls to protect against unauthorized access or spoofing. A suitable control circuit may include a security module responsible for detecting and responding to suspicious activities, such as unapproved data access attempts or irregular communication patterns. This module may employ machine learning to adapt its defense strategies, learning from previous attacks and adjusting security measures as needed to prevent similar breaches.

[0065] Vehicle systems in various embodiments may use a combination of local and remote sensors to monitor environmental conditions, vehicle status, and external inputs. These sensors may detect parameters such as speed, acceleration, braking status, location, proximity to other objects or vehicles, ambient temperature, humidity, and lighting conditions. raw data gathered by these sensors may feed into the control circuit, which in turn may respond to the input. The responses may include dynamically adjusting vehicle operations in response to real-time or near real-time changes in the environment or vehicle parameters; and, processing the data for further analysis. In certain embodiments, sensors may utilize various types of communication protocols (e.g., Bluetooth, ZigBee, Wi-Fi, or cellular networks) to share data with control systems both within the vehicle and to external data processing centers.

[0066] In certain embodiments, maintenance and diagnostic functions may be integrated into the control circuit, enabling the system to self-monitor for operational health. The control circuit may utilize diagnostic algorithms to assess the status of various vehicle components, such as engines, brakes, batteries, fuel cells and fuel systems, propulsion systems, and electronic systems (if present). If a component is found to be underperforming or at risk of failure, the control circuit may schedule alerts, recommend maintenance, or initiate safety protocols to avoid catastrophic failure. Self-diagnostics may use historical performance data to identify trends, facilitating proactive rather than reactive maintenance.

[0067] Terms such as "processing," "computing," "calculating," or "determining" refer to operations carried out by the control circuit, which may include computing systems or electronic devices that manipulate data represented as physical (electronic) quantities within memory or registers. One or more components may be described as "configured to," "configurable to," "operable / operative to," "adapted / adaptable to," or similar terms. Unless explicitly stated, these terms encompass components in both active and inactive states. Unless stated otherwise, terms like "including" or "having" should be interpreted as open-ended (i.e., "including but not limited to"). Numeric claim recitations generally mean "at least" the stated number, and disjunctive terms like "A or B" should be interpreted to include either or both unless explicitly specified. Operations in any claim may generally be performed in any order unless explicitly stated. The recitation "at least one of A, B, and C" should be interpreted as any combination of A, B, and C, such A alone, B alone, C alone, A and B together, A and C together, B and C together, and / or A, B, and C together. The recitation "at least one of A, B, or C" should be interpreted to include A alone, B alone, C alone, A and B together, A and C together, B and C together, and / or A, B, and C together.

[0068] This written description may disclose several embodiments of the subject matter, including the best mode, and may enable one of ordinary skill in the relevant art to practice the embodiments of subject matter, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the subject matter is defined by the claims, and may include other embodiments that may occur to one of ordinary skill in the art. Such other embodiments may be intended to be within the scope of the claims if they may have structural elements that may not differ from the literal language of the claims, or if they may include equivalent structural elements with insubstantial differences from the literal languages of the claims.

Claims

1. A maintenance of way machine, comprising:at least one wheel rotatable about an axle and movable along a first rail defining a longitudinal axis; anda chassis mounted to the axle, and the chassis supports at least one anchor workhead, and the anchor workhead is configured to move longitudinally relative to the chassis.

2. The maintenance of way machine of claim 1, wherein the anchor workhead supports one or more selectively interchangeable anchor tools.

3. The maintenance of way machine of claim 2, wherein the anchor workhead comprises a pair of brackets slidably supported on at least one support shaft extending parallel to the first rail, and each bracket supports a respective one of the interchangeable anchor tools.

4. The maintenance of way machine of claim 3, wherein the interchangeable anchor tool is configured to be an anchor spreader, an anchor squeezer, or both an anchor spreader and anchor squeezer.

5. The maintenance of way machine of claim 1, wherein the chassis supports both a first anchor workhead, and a second anchor workhead that is configured to independently move longitudinally relative to the chassis.

6. The maintenance of way machine of claim 5, further comprising:a first hydraulic actuator supported by the chassis and positioned to move the first anchor workhead longitudinally relative to the chassis; anda second hydraulic actuator supported by the chassis and positioned to move the second anchor workhead longitudinally relative to the chassis.

7. The maintenance of way machine of claim 1, further comprising a hitch positioned and structured to couple the chassis to another vehicle, and that vehicle is configured to perform as one or both of a spike puller and a spiker.

8. The maintenance of way machine of claim 1, further comprising an actuator supported by the chassis and positioned to move the anchor workhead longitudinally along the chassis.

9. The maintenance of way machine of claim 8, further comprising an optical sensor positioned to capture a zone along the first rail within a field of view and to generate sensor signals indicative of the field of view.

10. The maintenance of way machine of claim 9, further comprising a control circuit that is configured to:receive the sensor signals from the optical sensor; anddetect a presence or absence of at least one anchor in the zone along the first rail based at least in part on the received sensor signals.

11. The maintenance of way machine of claim 10, wherein the control circuit is further configured to:determine a misalignment between at least one anchor workhead and at least one anchor in the zone; andinitiate an adjustment of the position of the anchor workhead along the chassis based at least in part on the determined misalignment.

12. The maintenance of way machine of claim 11, further comprising a second optical sensor positioned to capture a second zone along a second rail within a second field of view for a second anchor workhead and generate sensor signals indicative of the second field of view.

13. The maintenance of way machine of claim 11, wherein the control circuit is further configured to:receive calibration signals from the optical sensor based on the position of a fixed target or alignment mark within the field of view; andcalibrate the position of the at least one anchor workhead relative to the at least one anchor within the field of view based at least in part on the calibration signals.

14. The maintenance of way machine of claim 1, wherein the workhead is movable longitudinally at least six feet along the chassis.

15. The maintenance of way machine of claim 1, further comprising a pressure sensor disposed within the anchor workhead, and a control circuit to receive pressure sensor data from the pressure sensor as feedback data, and thereby the control circuit is configured to determine one or more of the anchor workhead making contact with the anchor, the anchor workhead slipping off the anchor after contacting the anchor, and the anchor workhead applying more force against the anchor than a determined threshold force value.

16. A method, comprising:receiving signals from an optical sensor having a defined field of view along a first rail, the signals indicating the presence or absence of an anchor within the defined field of view, and the defined field of view including a designated zone;determining a presence or absence of the anchor within the designated zone based at least in part on the received signals; andtransmitting a control signal to an actuator that is configured to adjust an anchor workhead relative to a detected anchor.

17. The method of claim 16, wherein the control signal is selected from at least one of an adjustment signal to reposition the anchor workhead along a chassis of a maintenance of way machine or an actuation signal to engage the workhead with the anchor.

18. The method of claim 16, further comprising comparing the received signals from the optical sensor to pre-stored object recognition data in a memory that is communicatively linked to the control circuit.

19. The method of claim 16, further comprising training a machine learning model to detect the presence or absence of the anchor within the field of view utilizing a dataset of anchor images.

20. The method of claim 16, further comprising:receiving calibration signals from the optical sensor based on the position of a fixed target or alignment mark within the field of view; andcalibrating the position of the anchor workhead relative to the anchor within the designated zone using the calibration signals.

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