Feasibility of robotic cleaning of the undersides of Toronto subway cars

A description is given of a feasibility study which clearly indicated that robotics for undercar cleaning is indeed viable, both technically and economically. The proposed final system will combine water and air cleaning in the existing degreasing bay suitably modified by the addition of a second platform and appropriate walls and doors. Three robots will be used (one in the center and two on the outsides) each on its own track (approximately 60 m long) to permit cleaning a pair of cars at a time. An industrial vision system will be used to detect the exact position of the car and to correct the robots´ starting positions on the tracks. The present frequency of cleaning can be achieved in less than two shifts with the proposed system, thus permitting more frequent cleaning and some fleet expansion. Other possible applications of automation to transit vehicle maintenance are also discussed