Control system and method for brake bleeding

Patent metadata

Field	Value
Publication number	US-10093022-B2
Application number	US-201615058494-A
Country	US
Kind code	B2
Filing date	Mar 2, 2016
Priority date	Dec 18, 2015
Publication date	Oct 9, 2018
Grant date	Oct 9, 2018

Abstract

A robotic system validates brake bleeding by detecting one or more forces generated by a machine assembly acting to move a brake lever of a vehicle in order to open a valve of an air brake system of the vehicle. The system also detects displacement of the machine assembly as the machine assembly acts to move the brake lever, monitors one or more sounds generated one or more of during or after the machine assembly acts to move the brake lever, and determines that the brake lever has been moved to a position to open the valve of the air brake system to release the air brake system based on the one or more forces that are detected, the displacement that is detected, and/or the one or more sounds that are monitored.

First claim

What is claimed is:

1. A system comprising:
a force sensor detecting one or more forces generated by a machine assembly acting to move a brake lever of a vehicle in order to open a valve of an air brake system of the vehicle;
an encoder detecting displacement of the machine assembly as the machine assembly acts to move the brake lever;
an acoustic sensor monitoring one or more sounds generated during or after the machine assembly acts to move the brake lever; and
a controller determining that the brake lever has been moved to a position to open the valve of the air brake system to release the air brake system based on the one or more forces that are detected, the displacement that is detected, and the one or more sounds that are monitored.

2. The system of claim 1 , wherein the force sensor includes a torque sensor.

3. The system of claim 1 , wherein the force sensor includes a strain gauge sensor that detects the one or more forces based on a measured strain.

4. The system of claim 1 , wherein the force sensor detects the one or more forces based on an electric current supplied to one or more motors that move the machine assembly.

5. The system of claim 1 , wherein the controller determines that the brake lever has been moved to the position to open the valve by determining whether both the displacement exceeds a designated force threshold and the one or more forces exceed a designated force threshold.

6. The system of claim 1 , wherein the controller determines that the brake lever has been moved to the position to open the valve by determining whether the one or more sounds indicate air flowing out of the valve of the brake system.

7. The system of claim 1 , wherein the controller also determines whether a latch of the brake system has moved to engage the valve to hold the valve open based on the one or more sounds that are monitored.

8. The system of claim 7 , wherein the controller directs the machine assembly to release the brake lever responsive to determining that the latch has not moved to engage the valve, the acoustic sensor monitors one or more additional first sounds generated subsequent to directing the machine assembly to release the brake lever, and the controller determines that the latch has moved to engage the valve to hold the valve open based on the one or more additional first sounds.

9. The system of claim 8 , wherein the controller directs the machine assembly to again act to move the brake lever, the force sensor detects one or more additional forces generated by the machine assembly acting to move the brake lever, the encoder detects additional displacement of the machine assembly as the machine assembly acts to move the brake lever, the acoustic sensor monitors one or more additional second sounds generated during or after the machine assembly acts to move the brake lever, and the controller determines that the brake lever has been moved to the position to open the valve of the air brake system to release the air brake system based on the one or more additional forces that are detected, the additional displacement that is detected, and the one or more additional second sounds that are monitored.

10. A method comprising:
detecting one or more forces using a force sensor, generated by a machine assembly acting to move a brake lever of a vehicle in order to open a valve of an air brake system of the vehicle;
detecting displacement using an encoder, of the machine assembly as the machine assembly acts to move the brake lever;
monitoring one or more sounds using an acoustic sensor, generated during or after the machine assembly acts to move the brake lever; and
determining using a controller, that the brake lever has been moved to a position to open the valve of the air brake system to release the air brake system based on the one or more forces that are detected, the displacement that is detected, and the one or more sounds that are monitored.

11. The method of claim 10 , wherein determining that the brake lever has been moved to the position to open the valve includes determining whether both the displacement exceeds a designated position threshold and the one or more forces exceed a designated force threshold.

12. The method of claim 10 , wherein determining that the brake lever has been moved to the position to open the valve includes determining whether the one or more sounds indicate air flowing out of the valve of the brake system.

13. The method of claim 10 , further comprising determining using the acoustic sensor, whether a latch of the brake system has moved to engage the valve to hold the valve open based on the one or more sounds that are monitored.

14. The method of claim 13 , further comprising:
directing the machine assembly to release the brake lever responsive to determining that the latch has not moved to engage the valve;
monitoring one or more additional first sounds generated subsequent to directing the machine assembly to release the brake lever; and
determining that the latch has moved to engage the valve to hold the valve open based on the one or more additional first sounds.

15. The method of claim 14 , further comprising:
directing the machine assembly to again act to move the brake lever;
detecting one or more additional forces generated by the machine assembly acting to move the brake lever;
detecting additional displacement of the machine assembly as the machine assembly acts to move the brake lever;
monitoring one or more additional second sounds generated during or after the machine assembly acts to move the brake lever; and
determining that the brake lever has been moved to the position to open the valve of the air brake system to release the air brake system based on the one or more additional forces that are detected, the additional displacement that is detected, and the one or more additional second sounds that are monitored.

16. A method comprising:
detecting one or more of:
a force using a force sensor, generated by a machine assembly acting to move a brake lever of a vehicle in order to open a valve of an air brake system of the vehicle;
displacement using an encoder, of the machine assembly as the machine assembly acts to move the brake lever; or
sound using an acoustic sensor, generated during or after the machine assembly acts to move the brake lever; and

determining using a controller, that the brake lever has been moved to a position to open the valve of the air brake system to release the air brake system based on one or more of the force, the displacement, or the sound that is detected.

17. The method of claim 16 , wherein determining that the brake lever has been moved to the position to open the valve is based on all of the force, the displacement, or the sound that is detected.

18. The method of claim 16 , wherein determining that the brake lever has been moved to the position to open the valve includes determining whether both the displacement exceeds a designated position threshold and the force exceeds a designated force threshold.

19. The method of claim 16 , wherein determining that the brake lever has been moved to the position to open the valve includes determining whether the sound indicates air flowing out of the valve of the brake system.

20. The method of claim 16 , further comprising determining using the acoustic sensor, whether a latch of the brake system has moved to engage the valve to hold the valve open based on the sound that is monitored.

Assignees

• Gen Electric

Inventors

• Al Assad Omar
• Forman Douglas
• Theurer Charles
• Kannan Balajee
• Tan Huan

Classifications

• H04N23/54

  Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils · CPC title

• B60T15/54 Primary

  for controlling exhaust from triple valve or from brake cylinder · CPC title

• Y10S901/01

  Mobile robot · CPC title

• B25J13/085

  Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title

• B25J9/162

  Mobile manipulator, movable base with manipulator arm mounted on it · CPC title