Patent ID: 8379927

Claim:
A system for unloading a railcar having a door that is movable between a closed position and an opened position wherein material in the railcar is discharged through a discharge opening, the door being movable by an actuation shaft having a capstan with an engagement surface, the system including: an imaging system including a first camera and a first laser, the first camera obtaining first images of portions of the railcar and the first laser scanning portions of the railcar to obtain a first plurality of distance measurements, the imaging system being configured to identify the engagement surface of the capstan by comparing the first plurality of distance measurements to known features of the capstan, perform an image analysis of a plurality of the first images generated at predetermined intervals as the railcar moves past the imaging system to determine motion parameters of the railcar, the image analysis including an absolute value difference calculation between adjacent first images, and generate a model of the railcar using the motion parameters to determine the position of the capstan relative to the railcar when the capstan was identified, an actuation device including a frame mounted for movement along a rail, a power gate opener movably mounted to the frame and having a drive surface for engaging the capstan engagement surface, a second camera obtaining second images of portions of the railcar and a second laser scanning portions of the railcar to obtain a second plurality of distance measurements, and a computing device configured to receive information from the model and use the information to initiate movement along the rail toward the capstan, perform the image analysis with of a plurality of the second images generated at second predetermined intervals to track movement of the actuation device relative to the railcar, identify the engagement surface of the capstan by comparing the second plurality of distance measurements to known features of the capstan, control movement of the drive surface of the power gate opener into engagement with the capstan engagement surface as the actuation device moves along the rail, and control movement of the drive surface to move the capstan, thereby moving the door to the opened position to discharge material through the discharge opening of the gate assembly.