# US 2023/0407583 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 2023/0407583 A1 - Document ID: US20230407583A1 - Status: Published application - Kind: A1 - Application number: 18/460,214 - Filed: 2023-09-01 - Published: 2023-12-21 - Earliest claimed: 2020-03-04 - Assignees: Pioneer Industrial Stsyems, LLC - Applicants: Pioneer Industrial Stsyems, LLC - Inventors: Todd Hendricks, SR. - Web page: https://patentgrep.com/patent/US20230407583A1 ## 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 for conveying traffic cones, comprising: a vehicle platform; an electrical power source; a maintenance module configured to hold a plurality of traffic cones; a multi-axis robot powered by the electrical power source, the multi-axis robot configured to convey one of the traffic cones from a road to the maintenance module and convey one of the traffic cones from the maintenance module to the road; an optical system configured to identify one of the traffic cones on the road and a location to place one of the traffic cones on the road; a location translator spaced apart from the multi-axis robot, the location translator including a linear encoder, the location translator configured to translate the location of one of the traffic cones on the road and the location to place one of the traffic cones on the road 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 to convey the traffic cones to and from the road. ### Claim 2 (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 3 (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; and the optical system includes a digital camera. ### Claim 4 (depends on 1) The robotic maintenance vehicle of claim 1, wherein the working area of the multi-axis robot is 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 5 (depends on 1) The robotic maintenance vehicle of claim 1, wherein the multi-axis robot includes a distal arm tool having a vertical clamp configured to releasably grasp one of the traffic cones disposed substantially vertical on a surface and a horizontal clamp configured to releasably clasp one of the traffic cones disposed substantially horizontal on a surface. ### Claim 6 (depends on 1) The robotic maintenance vehicle of claim 1, wherein the multi-axis robot includes a distal arm tool having a vertical clamp configured to releasably grasp one of the traffic cones disposed substantially vertical on a surface. ### Claim 7 (depends on 1) The robotic maintenance vehicle of claim 1, wherein the multi-axis robot includes a distal arm tool having a horizontal clamp configured to releasably clasp one of the traffic cones disposed substantially horizontal on a surface. ### Claim 8 (depends on 1) The robotic maintenance vehicle of claim 1, further comprising an alert system powered by the electrical power source and controlled by the control system, the alert system configured to configured to notify a human operator where an undesired object enters a work area of the multi-axis robot. ### Claim 9 (depends on 1) The robotic maintenance vehicle of claim 1, further comprising an alert system powered by the electrical power source and controlled by the control system, the alert system configured to provide emergency control of the multi-axis robot where an undesired object enters a work area of the multi-axis robot, wherein the emergency control includes at least one of a speed reduction, an avoidance movement, and an emergency stopping of the multi-axis robot. ### Claim 10 (depends on 1) The robotic maintenance vehicle of claim 1, 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 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; wherein the optical system is configured to identify another one of the traffic cones on the road and another location to place one of the traffic cones on the road; wherein the location translator is configured to translate a location of the another one of the traffic cones on the road and the another location to place one of the traffic cones on the road identified by the optical system to a working area of the another multi-axis robot. ### Claim 11 (depends on 1) The robotic maintenance vehicle of claim 1, wherein the robotic maintenance vehicle further comprises: another maintenance module configured to hold a road maintenance material; another multi-axis robot powered by the electrical power source, the another multi-axis robot 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; 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 12 A robotic maintenance vehicle for conveying traffic cones, comprising: a vehicle platform; an electrical power source; a maintenance module configured to hold a plurality of traffic cones; a multi-axis robot powered by the electrical power source, the multi-axis robot configured to convey one of the traffic cones from a road to the maintenance module and convey one of the traffic cones from the maintenance module to the road, the multi-axis robot includes a distal arm tool having a vertical clamp configured to releasably grasp one of the traffic cones disposed substantially vertical on a surface and a horizontal clamp configured to releasably clasp one of the traffic cones disposed substantially horizontal on a surface; an optical system configured to identify one of the traffic cones on the road and a location to place one of the traffic cones on the road; a location translator spaced apart from the multi-axis robot, the location translator including a linear encoder, the location translator configured to translate the location of one of the traffic cones on the road and the location to place one of the traffic cones on the road identified by the optical system to a working area of the multi-axis robot; 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 to convey the traffic cones to and from the road; and an alert system powered by the electrical power source and controlled by the control system, the alert system configured to configured to provide a t least one of a notification to a human operator where an undesired object enters a work area of the multi-axis robot and emergency control of the multi-axis robot where an undesired object enters a work area of the multi-axis robot, wherein the emergency control includes at least one of a speed reduction, an avoidance movement, and an emergency stopping of the multi-axis robot. ### Claim 13 (depends on 12) The robotic maintenance vehicle of claim 12, 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 14 (depends on 12) The robotic maintenance vehicle of claim 12, wherein: the electrical power source includes an electric generator; the control system includes one of a programmable logic controller and a computer; and the optical system includes a digital camera. ### Claim 15 (depends on 12) The robotic maintenance vehicle of claim 12, 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 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; wherein the optical system is configured to identify another one of the traffic cones on the road and another location to place one of the traffic cones on the road; wherein the location translator is configured to translate a location of the another one of the traffic cones on the road and the another location to place one of the traffic cones on the road identified by the optical system to a working area of the another multi-axis robot. ### Claim 16 (depends on 15) The robotic maintenance vehicle of claim 15, wherein the working area of the multi-axis robot and the another multi-axis robot is 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 17 (depends on 12) The robotic maintenance vehicle of claim 12, wherein the robotic maintenance vehicle further comprises: another maintenance module configured to hold a road maintenance material; another multi-axis robot powered by the electrical power source, the another multi-axis robot 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; 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 18 (depends on 17) The robotic maintenance vehicle of claim 17, wherein the working area of the multi-axis robot and the another multi-axis robot is 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 19 A method of using a robotic maintenance vehicle comprising: providing a robotic maintenance vehicle including: a vehicle platform; an electrical power source; a maintenance module configured to hold a plurality of traffic cones; a multi-axis robot powered by the electrical power source, the multi-axis robot configured to convey one of the traffic cones from a road to the maintenance module and convey one of the traffic cones from the maintenance module to the road; an optical system configured to identify one of the traffic cones on the road and a location to place one of the traffic cones on the road; a location translator spaced apart from the multi-axis robot, the location translator including a linear encoder, the location translator configured to translate the location of one of the traffic cones on the road and the location to place one of the traffic cones on the road 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; and conveying one of the traffic cones on the road identified by the optical system from the road to the maintenance module or conveying one of the traffic cones from the maintenance module to the location on the road identified by the optical system. ### Claim 20 (depends on 19) The method of claim 19 further comprising: the robotic maintenance vehicle including: another multi-axis robot powered by the electrical power source and controlled by the control system, the another multi-axis robot 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; wherein the optical system is configured to identify another one of the traffic cones on the road and another location to place one of the traffic cones on the road; wherein the location translator is configured to translate a location of the another one of the traffic cones on the road and the another location to place one of the traffic cones on the road identified by the optical system to a working area of the another multi-axis robot; and conveying the another one of traffic cones on the road identified by the optical system from the road to the maintenance module or conveying one of the another one of the traffic cones from the maintenance module to the another location on the road identified by the optical system.