System and method for in-motion railcar loading

A method for performing an operation on a moving railcar in a string of railcars, the moving railcar having a latch and a lid, the method comprising:

• detecting a position of at least one of:
• the latch;
• and, the lid, on the moving railcar;
• measuring a moving speed of the moving railcar separate from other railcars in the string of railcars;
• using the measured moving speed of the moving railcar and the position of the at least one of:
• the latch, and, the lid, to determine an adjusted toolpath;
• having a robot arm execute the operation on the at least one of:
• the latch;
• and, the lid, while the railcar is moving by following the adjusted toolpath.

A railcar loading system for loading materials into a series of moving railcars passing through a series of stations, each railcar having a latch and a lid, the railcar loading system comprising:

• at least one sensing system for detecting positions of the latch and positions of the lid on a moving railcar relative to a railcar coordinate system, the railcar coordinate system fixed relative to the moving railcar;
• at least one velocity sensor for measuring a moving speed of the moving railcar;
• a first robot arm for performing an operation of unlatching the latch at an unlatching station;
• a second robot arm for performing an operation of opening the lid at a lid opening station;
• a loading device for performing an operation of loading materials into each moving railcar at a filling station;
• a third robot arm for performing an operation of closing the lid at a lid-closing station;
• a fourth robot arm for performing an operation of latching the latch at a latching station;
• and
• at least one controller for generating commands to instruct each robot arm for performing the corresponding operation,
• wherein the at least one controller uses a measured moving speed of the moving railcar and the position of at least one of:
• the latch, and, the lid, to determine an adjusted toolpath for each robot arm,
• and wherein the at least one controller instructs each robot arm to follow the determined adjusted toolpath to engage with one of:
• the latch;
• and the lid, while the railcar is moving through the station to perform the robot arms corresponding operation.