Rail-mounted robot inspection system

Patent metadata

Field	Value
Publication number	US-12459546-B2
Application number	US-202217700103-A
Country	US
Kind code	B2
Filing date	Mar 21, 2022
Priority date	Mar 21, 2022
Publication date	Nov 4, 2025
Grant date	Nov 4, 2025

Abstract

Implementations are described herein for operating rail-mounted robots in hazardous conditions. In various implementations, a rail-mounted robot configured to inspect a plant with an explosion proof area may include: an actuator to propel the rail-mounted robot along a rail; a battery to provide power to the actuator; a charger to draw power from a power terminal integral with the rail while the rail-mounted robot is in motion, and to charge the battery using the drawn power; and logic to localize the rail-mounted robot based on readings from location indicia distributed along the rail.

First claim

What is claimed is:

1 . A rail-mounted robot for inspecting a plant with an explosion-proof area, the rail-mounted robot comprising:
an actuator to propel the rail-mounted robot along a rail; a battery to provide power to the actuator; a charger to draw power from a power terminal integral with the rail while the rail-mounted robot is in motion, and to charge the battery using the drawn power; and one or more processors configured to localize the rail-mounted robot based on readings from location indicia distributed along the rail; wherein the charger comprises a conductive wheel or capacitive coupling pad that draws power from an exposed conductive trace that extends along a length of the rail outside of the explosion-proof area.

2 . The rail-mounted robot of claim 1 , wherein at least some of the location indicia comprise radio frequency identification (RFID) tags, and the rail-mounted robot further comprises an RFID reader that obtains at least some of the readings used by one or more of the processors to localize the rail-mounted robot from the RFID tags.

3 . A rail-mounted robot for inspecting a plant with an explosion-proof area, the rail-mounted robot comprising:
an actuator to propel the rail-mounted robot along a rail; a battery to provide power to the actuator; a charger to draw power from a power terminal integral with the rail while the rail-mounted robot is in motion, and to charge the battery using the drawn power; one or more sensors and a transceiver to wirelessly transmit data obtained via one or more of the sensors to a remote computing device and one or more processors to localize the rail-mounted robot based on readings from location indicia distributed along the rail; wherein the transceiver is configured to exchange data wirelessly with a wireless antenna embedded within, and along a length of, the rail.

4 . The rail-mounted robot of claim 3 , wherein the wireless antenna comprises a leaky feeder antenna.

5 . A rail-mounted robot for inspecting a plant with an explosion-proof area, the rail-mounted robot comprising:
an actuator to propel the rail-mounted robot along a rail; a battery to provide power to the actuator; a charger to draw power from a power terminal integral with the rail while the rail-mounted robot is in motion, and to charge the battery using the drawn power; and one or more processors to localize the rail-mounted robot based on readings from location indicia distributed along the rail; wherein the charger comprises a radio frequency (RF) power antenna, and the power terminal integral with the rail comprises a plurality of RF power transmitters distributed along a length of the rail, whereby the RF power antenna draws power from the plurality of RF power transmitters, and charges the battery using the drawn power.

6 . The rail-mounted robot of claim 5 , wherein at least some of the readings used by one or more of the processors to localize the rail-mounted robot are obtained intermittently from one or more of the plurality of RF power transmitters.

7 . A rail-mounted robot for inspecting a plant with an explosion-proof area, the rail-mounted robot comprising:
an actuator to propel the rail-mounted robot along a rail; a battery to provide power to the actuator; a charger to draw power from a power terminal integral with the rail while the rail-mounted robot is in motion, and to charge the battery using the drawn power; and logic to localize the rail-mounted robot based on readings from location indicia distributed along the rail; wherein the actuator is configured to propel the rail-mounted robot at a first velocity over a first portion of the rail that includes the power terminal, and at a second velocity over a second portion of the rail that does not include the power terminal, and wherein the first velocity is less than the second velocity.

8 . A system for inspecting a plant, comprising:
a rail that passes through an explosion-proof area of the plant, wherein the rail comprises one or more radio frequency (RF) power transmitters enclosed within a portion of the rail that passes through the explosion-proof area; and a rail-mounted robot comprising: an actuator to propel the rail-mounted robot along the rail; one or more onboard sensors configured to generate one or more sensor signals that are usable to inspect the plant; a battery to provide power to the actuator; and a charger comprising an RF power antenna that charges to charge the battery with power drawn from one or more of the RF power transmitters while the rail-mounted robot is in motion.

9 . The system of claim 8 , wherein the rail includes a plurality of location indicia distributed along a length of the rail, and the rail-mounted robot includes one or more processors configured to localize the rail-mounted robot based on readings obtained from the location indicia.

10 . The system of claim 9 , wherein the plurality of indicia comprise at least some of the plurality of wireless power transmitters, whereby at least some of the readings used by the one or more processors to localize the rail-mounted robot are obtained intermittently from one or more of the RF power transmitters.

11 . The system of claim 9 , wherein at least some of the location indicia comprise radio frequency identification (RFID) tags, and the rail-mounted robot further comprises an RFID reader that obtains at least some of the readings used by the one or more processors to localize the rail-mounted robot from the RFID tags.

12 . The system of claim 8 , wherein the rail further comprises a leaky feeder antenna, and the rail-mounted robot is configured to transmit data generated from one or more of the onboard sensors to the leaky feeder antenna.

13 . A system for inspecting a plant, comprising:
a rail that passes through an explosion-proof area of the plant, wherein the rail comprises a plurality of wireless power transmitters enclosed within a portion of the rail that passes through the explosion-proof area; and a rail-mounted robot comprising: an actuator to propel the rail-mounted robot along the rail; one or more onboard sensors configured to generate one or more sensor signals that are usable to inspect the plant; a battery to provide power to the actuator; and a charger to charge the battery with power drawn from one or more of the wireless power transmitters while the rail-mounted robot is in motion; wherein the actuator is to propel the rail-mounted robot at a first velocity over a first portion of the rail that includes the plurality of wireless power transmitters, and at a second velocity over a second portion of the rail that does not include wireless power transmitters, and wherein the first velocity is less than the second velocity.

14 . A method for operating a rail-mounted robot to inspect a plant, the method comprising:
propelling the rail-mounted robot along a rail that passes through an explosion-proof area of the plant; while the rail-mounted robot is in motion being propelled through the explosion-proof area, wirelessly drawing power from a plurality of radio frequency (RF) power terminals that are embedded within and distributed along a length of the rail; and inspecting the plant based on one or more sensor readings obtained from one or more sensors onboard the rail-mounted robot.

15 . The method of claim 14 , further comprising transmitting data indicative of one or more of the sensor readings from the rail-mounted robot to a leaky feeder antenna embedded in the rail.

16 . The method of claim 14 , further comprising localizing the

Assignees

• Yokogawa Electric Corp

Inventors

• Fujimoto Naoyuki

Classifications

• H02J7/70 Primary

  characterised by the mechanical construction · CPC title

• B60L53/12

  Inductive energy transfer · CPC title

• B60L2200/26

  Rail vehicles · CPC title

• H01Q13/203

  Leaky coaxial lines · CPC title

• B61C3/00

  Electric locomotives or railcars (characterised by power transmission B61C9/00; electrical features B60L; H02) · CPC title