Robotic maintenance vehicle and modules
The robotic maintenance vehicle (RMV) has a propulsion system, a control system, an electrical power source, a maintenance module, a multi-axis robot, an optical system, and a location translator. The maintenance module is configured to hold different kinds of road maintenance materials. The multi-axis robot is configured to convey the road maintenance material from either the maintenance module to the road, the road to the maintenance module, or both. The optical system and the location translator are configured to be controlled by the control system and operate in conjunction to instruct the multi-axis robot where to pick up and/or place the road maintenance material. The multi-axis robot is configured to be selectively coupled to a distal arm tool.
1 . A robotic maintenance vehicle comprising:
a vehicle platform;
an electrical power source;
a multi-axis robot powered by the electrical power source, the multi-axis robot configured to perform a road maintenance operation;
an optical system configured to identify a road feature;
a location translator spaced apart from the multi-axis robot, the location translator including a linear encoder, the location translator configured to translate a location of the road feature identified by the optical system to a working area of the multi-axis robot;
a propulsion system configured to propel the robotic maintenance vehicle; and
an autonomous control system spaced apart from the location translator, the autonomous control system configured to control motion of the multi-axis robot based on the translated location of the road feature.
2 . The robotic maintenance vehicle of claim 1 , including a maintenance module configured to hold a road maintenance material, and wherein the autonomous control system controls the functions of the multi-axis robot configured to perform a road maintenance operation including (1) semi-autonomously conveying the road maintenance material from a road to the maintenance module, (2) semi-autonomously conveying the road maintenance material from the maintenance module to the road, or (3) semi-autonomously conveying the road maintenance material from the road to the maintenance module and semi-autonomously conveying the road maintenance material from the maintenance module to the road.
3 . The robotic maintenance vehicle of claim 2 , wherein the road maintenance material includes a sealant;
the multi-axis robot is configured to convey the sealant from the maintenance module to the road; and
the road feature identified by the optical system includes a crack in a surface of the road, the optical system further comprises an optical mapping module configured to map the crack, and a visual representation generator for generating a visual representation of the road feature from the optical mapping module and the multi-axis robot is configured to convey the sealant from the maintenance module to the crack mapped by the optical mapping module.
4 . The robotic maintenance vehicle of claim 3 , wherein the road feature identified by the optical system includes a crack in a surface of the road, the optical mapping module further comprises a calculator to calculate an operation speed of the multi-axis robot and a pump rate of the road maintenance material, wherein the autonomous control system controls a rate of dispensing of the road maintenance material and an amount of the road maintenance material dispensed based on a size of the crack though a computer program.
5 . The robotic maintenance vehicle of claim 4 , wherein the optical mapping module includes:
a shroud configured to substantially enclose the crack in the surface of the road; and
a member selected from a group consisting of a laser, a digital camera, and combinations thereof to generate a visual representation.
6 . The robotic maintenance vehicle of claim 5 , wherein the autonomous control system controls the multi-axis robot including a distal arm tool fluidly coupled to the road maintenance material and configured to dispense the sealant.
7 . The robotic maintenance vehicle of claim 6 , wherein the distal arm tool has a spring actuated dampener and the autonomous control system allows the distal arm tool to follow a contour of the road as the distal arm tool moves across a surface of the road.
8 . The robotic maintenance vehicle of claim 7 , further comprising an airstream module controlled by the autonomous control system wherein the airstream module is configured to provide an airstream to blow debris from one of the road and a crack in a surface of the road.
9 . The robotic maintenance vehicle of claim 8 , wherein the airstream module includes an oscillating air knife coupled to one of the robotic maintenance vehicle and the multi-axis robot.
10 . The robotic maintenance vehicle of claim 2 , further comprising:
another multi-axis robot powered by the electrical power source and controlled by the autonomous control system, the another multi-axis robot configured to (1) convey the road maintenance material from the road to the maintenance module, (2) convey the road maintenance material from the maintenance module to the road, or (3) convey the road maintenance material from the road to the maintenance module and convey the road maintenance material from the maintenance module to the road;
wherein the optical system is configured to identify another road feature; and
wherein the location translator is configured to translate a location of the another road feature identified by the optical system to a working area of the another multi-axis robot.
11 . The robotic maintenance vehicle of claim 2 , wherein:
the road maintenance material includes a plurality of traffic cones; and
the multi-axis robot is configured to convey one of the traffic cones from the road to the maintenance module and convey one of the traffic cones from the maintenance module to the road.
12 . The robotic maintenance vehicle of claim 11 , wherein the multi-axis robot includes a distal arm tool having a vertical clamp configured to releasably grasp a traffic cone disposed substantially vertical on a surface and a horizontal clamp configured to releasably clasp a traffic cone disposed substantially horizontal on a surface.
13 . The robotic maintenance vehicle of claim 12 , wherein:
the another multi-axis robot is configured to convey one of traffic cones from the road to the maintenance module and convey one of the traffic cones from the maintenance module to the road.
14 . The robotic maintenance vehicle of claim 2 , wherein:
the road maintenance material includes a plurality of traffic cones;
the multi-axis robot is configured to convey one of the traffic cones from the road to the maintenance module and convey one of the traffic cones from the maintenance module to the road; and
the robotic maintenance vehicle further comprises:
another maintenance module configured to hold another road maintenance material, the another road maintenance material including a sealant;
another multi-axis robot powered by the electrical power source, the another multi-axis robot configured to convey the sealant from the another maintenance module to the road;
the optical system is configured to identify another road feature; and
the location translator is configured to translate a location of the another road feature identified by the optical system to a working area of the another multi-axis robot.
15 . The robotic maintenance vehicle of claim 1 , wherein the vehicle platform includes one of: (1) a trailer; (2) a vehicle including the propulsion system, the propulsion system includes one of an internal combustion engine, an electric motor, and an internal combustion engine (3) a vehicle having a trailer coupled to the vehicle; and (4) a trailer including the propulsion system, the propulsion system includes one of an internal combustion engine, an electric motor, and an internal combustion engine and an electric motor.
16 . The robotic maintenance vehicle of claim 15 , wherein the autonomous control system is further configured to control the vehicle platform.
17 . The robotic maintenance vehicle of claim 16 , including a maintenance module configured to hold a road maintenance material, and wherein the autonomous control system controls the functions of the multi-axis robot configured to perform a road maintenance operation including (1) semi-autonomously conveying the road maintenance material from a road to the maintenance module, (2) semi-autonomously conveying the road maintenance material from the maintenance module to the road, or (3) semi-autonomously conveying the road maintenance material from the road to the maintenance module and semi-autonomously conveying the road maintenance material from the maintenance module to the road.
18 . The robotic maintenance vehicle of claim 1 , wherein a distal arm tool is coupled to the multi-axis robot.
19 . The robotic maintenance vehicle of claim 18 , wherein the distal arm tool includes one of a sealant dispenser, a cone picker, a saw, a grinder, a painter sprayer, and a scanner.
20 . The robotic maintenance vehicle of claim 1 , wherein the location translator is disposed on an underside of the robotic maintenance vehicle.
21 . A method of using a robotic maintenance vehicle comprising:
providing a robotic maintenance vehicle including:
a vehicle platform;
an electrical power source,
a multi-axis robot powered by the electrical power source, the multi-axis robot configured to perform a road maintenance operation;
an optical system configured to identify a road feature;
a location translator spaced apart from the multi-axis robot, the location translator including a linear encoder, the location translator configured to translate a location of the road feature identified by the optical system to a working area of the multi-axis robot;
a propulsion system configured to propel the robotic maintenance vehicle; and
an autonomous control system spaced apart from the location translator, the autonomous control system configured to control motion of the multi-axis robot based on the translated location of the road feature.