# US 2021/0277613 A1 · Robotic maintenance vehicle and modules > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0277613 A1 - Document ID: US20210277613A1 - Status: Published application - Kind: A1 - Application number: 17/189,841 - Filed: 2021-03-02 - Published: 2021-09-09 - Earliest claimed: 2020-03-04 - Assignees: Pioneer Industrial Systems, LLC - Applicants: Pioneer Industrial Systems, LLC - Inventors: Todd E. Hendricks, SR. - Web page: https://patentgrep.com/patent/US20210277613A1 ## CPC - B25J 9/1679: {characterised by the tasks executed} - E01F 9/70: Storing, transporting, placing or retrieving portable devices - B25J 9/1697: {Vision controlled systems} - B60P 1/5433: {and having the first pivot on a vertical axis} - B60P 3/14: the object being a workshop for servicing, for maintenance, or for carrying workmen during work (lifting devices for movable platforms or cabins for workmen B66F11/04) - B62D 33/06: Drivers' cabs {(overhead guards, e.g. against loads falling down B60R21/11; roll-over protection B60R21/13)} - B62D 53/00: Tractor-trailer combinations; Road trains (traction couplings other than fifth wheel coupling B60D {; tracked vehicles comprising at least two articulated parts B62D55/0655}) - E01C 23/0973: {with liquid or semi-liquid materials, e.g. crack sealants} - G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target} - B60Y 2200/92: Hybrid vehicles - B62D 33/02: Platforms; Open load compartments {(flat wagons including posts or standards B61D3/08)} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - E01F: ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE - B60P: VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS (vehicles with special provisions for transporting patients or disabled persons, or their personal conveyances A61G3/00) - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - E01C: CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR (forming roads or like surfaces by compacting or grading snow or ice E01H) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY ## Abstract 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. ## Claims ### Claim 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 configured to translate a location of the road feature identified by the optical system to a working area of the multi-axis robot; and a control system configured to control the functions of the robotic maintenance vehicle, including the multi-axis robot, the optical system, and the location translator. ### Claim 2 (depends on 1) The robotic maintenance vehicle of claim 1, including a maintenance module configured to hold a road maintenance material, and wherein the multi-axis robot is configured to perform a road maintenance operation that includes (1) conveying the road maintenance material from a road to the maintenance module, (2) conveying the road maintenance material from the maintenance module to the road, or (3) conveying the road maintenance material from the road to the maintenance module and conveying the road maintenance material from the maintenance module to the road; ### Claim 3 (depends on 1) The robotic maintenance vehicle of claim 1, wherein the vehicle platform includes one of: (1) a trailer; (2) a truck including a propulsion system configured to propel the robotic maintenance vehicle, the propulsion system includes one of an internal combustion engine, an electric motor, and an internal combustion engine and an electric motor, and an operator cab for an operator to control the vehicle; and (3) a truck having a trailer coupled to the truck. ### Claim 4 (depends on 1) The robotic maintenance vehicle of claim 1, wherein: the electrical power source includes an electric generator; the control system includes one of a programmable logic controller and a computer; the optical system includes a digital camera; and the location translator includes a linear encoder. ### Claim 5 (depends on 1) The robotic maintenance vehicle of claim 1, wherein the multi-axis robot has a work area disposed adjacent to one of a front side of the vehicle, a right side of the vehicle, a left side of the vehicle, and a rear end of the vehicle. ### Claim 6 (depends on 2) 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. ### Claim 7 (depends on 6) The robotic maintenance vehicle of claim 6, wherein the distal arm tool has 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. ### Claim 8 (depends on 2) The robotic maintenance vehicle of claim 2, further comprising: another multi-axis robot powered by the electrical power source and controlled by the 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; 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. ### Claim 9 (depends on 8) The robotic maintenance vehicle of claim 8, 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. ### Claim 10 (depends on 2) The robotic maintenance vehicle of claim 2, wherein: the road maintenance material includes a sealant; and the multi-axis robot is configured to convey the sealant from the maintenance module to the road. ### Claim 11 (depends on 10) The robotic maintenance vehicle of claim 10, wherein 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 the multi-axis robot is configured to convey the sealant from the maintenance module to the crack mapped by the optical mapping module. ### Claim 12 (depends on 11) The robotic maintenance vehicle of claim 11, wherein 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 calculate an operation speed of the multi-axis robot and a pump rate of the road maintenance material, thereby controlling 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. ### Claim 13 (depends on 12) The robotic maintenance vehicle of claim 12, 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. ### Claim 14 (depends on 10) The robotic maintenance vehicle of claim 10, wherein the multi-axis robot includes a distal arm tool fluidly coupled to the road maintenance material and configured to dispense the sealant. ### Claim 15 (depends on 14) The robotic maintenance vehicle of claim 14, wherein the distal arm tool has a spring actuated dampener and is configured to follow a contour of the road as the robot moves the distal arm tool across a surface of the road. ### Claim 16 (depends on 15) The robotic maintenance vehicle of claim 15, wherein the distal arm tool includes a nozzle, the nozzle including a hollow cylinder that includes a predetermined length. ### Claim 17 (depends on 10) The robotic maintenance vehicle of claim 10, further comprising an airstream module configured to provide an airstream to blow debris from one of the road and a crack in a surface of the road. ### Claim 18 (depends on 17) The robotic maintenance vehicle of claim 17, wherein the airstream module includes an oscillating air knife coupled to one of the vehicle and the multi-axis robot. ### Claim 19 (depends on 2) 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. ### Claim 20 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 configured to translate a location of the road feature identified by the optical system to a working area of the multi-axis robot; and a control system configured to control the functions of the robotic maintenance vehicle, including the multi-axis robot, the optical system, and the location translator; performing a road maintenance operation.