Instrumented rail system

• US 10,286,930 B2
• Filed: 04/05/2016
• Issued: 05/14/2019
• Est. Priority Date: 06/16/2015
• Status: Active Grant

• Current Assignee: Johns Hopkins University
• Original Assignee: Johns Hopkins University
• Inventors: Simon, Daniel H., Alvarez, Benjamin B., Irizarry-Cruz, William A., Gustafson, Todd M., Rajan, Abraham, LeBlanc, Frederick Warren, Zander, Warren E.
• Primary Examiner(s): Kuhfuss, Zachary L
• Application Number:
  US15/090,636
• Publication Number:
  US 20160368510A1
• Time in Patent Office: 1,134 Days
• Field of Search: 105 261, 105 27, 105162
• CPC Class Codes: B61D 15/12 power propelled
• CPC Class Codes: B61K 9/08 Measuring installations for surveying permanent way applications of measuring apparatus or devices for track building purposes E01B35/00; measuring techniques G01
• CPC Class Codes: B61L 15/0027 Radio-based, e.g. using GSM-R
• CPC Class Codes: B61L 15/0081 On-board diagnosis or maintenance
• CPC Class Codes: B61L 15/009 On-board display devices
• CPC Class Codes: B61L 23/04 for monitoring the mechanical state of the route
• CPC Class Codes: B61L 23/041 Obstacle detection
• CPC Class Codes: B61L 23/044 Broken rails
• CPC Class Codes: B61L 23/045 Rail wear
• CPC Class Codes: B61L 23/047 Track or rail movements
• CPC Class Codes: B61L 23/048 Road bed changes, e.g. road bed erosion
• CPC Class Codes: B61L 25/025 Absolute localisation, e.g. providing geodetic coordinates
• CPC Class Codes: B61L 27/40 Handling position reports or trackside vehicle data
• CPC Class Codes: B61L 27/53 for trackside elements or systems, e.g. trackside supervision of trackside control system conditions
• CPC Class Codes: H04N 23/90 Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Abstract

A deployable vehicle for an instrumented rail system includes a first locomotion module having a first mobility assembly configured to engage a first rail, a second locomotion module having a second mobility assembly configured to engage a second rail, an adjustable frame extendable between the first and second locomotion modules by a distance corresponding to the distance between the first and second rails, and a sensor module removably attachable to the frame. The sensor module includes a sensor suite having a plurality of sensors for gathering data while the vehicle is deployed. The sensor module includes a communications module having a first radio configured to enable the vehicle to establish at least a first communication link with a remotely located mobile base station, and a second radio configured to establish a second communication link with the remotely located mobile base station.

Claims

1. A deployable vehicle of an instrumented rail system, the vehicle comprising:

a first locomotion module having a first mobility assembly configured to engage a first rail;

a second locomotion module having a second mobility assembly configured to engage a second rail;

an adjustable frame extendable between the first and second locomotion modules by a distance corresponding to the distance between the first and second rails; and

a sensor module removably attachable to the frame, the sensor module including a sensor suite having a plurality of sensors for gathering data while the vehicle is deployed, the sensor module comprising a communications module having a first radio configured to enable the vehicle to establish at least a first wireless communication link with a remotely located mobile base station,

wherein the communications module further includes a second radio configured to establish a second wireless communication link with the remotely located mobile base station,

wherein the first and second locomotion modules are configured to be transported by an operator to a deployment location, via a first transport unit, for unmanned deployment of the deployable vehicle, and

wherein the sensor module is configured to be transported by the operator to the deployment location, via a second transport unit, for the unmanned deployment.

2. The vehicle of claim 1, wherein the sensor suite comprises a camera unit.

3. The vehicle of claim 2, wherein the camera unit is operably coupled to a positioning system configured to reposition the camera unit relative to the vehicle.

4. The vehicle of claim 3, wherein the positioning system comprises an extendable mast or a pan/tilt unit.

5. The vehicle of claim 2, wherein the camera unit comprises one or more of a visible light camera, a thermal imaging camera, a near infrared camera.

6. The vehicle of claim 5, wherein the camera unit further comprises a visible spotlight or a near infrared spotlight.

7. The vehicle of claim 1, wherein the sensor module further comprises an audio module comprising a directional microphone or speakers.

8. The vehicle of claim 1, wherein the second wireless communication link is maintained simultaneously with the first wireless communication link or in response to a loss of the first wireless communication link.

9. The vehicle of claim 1, wherein the sensor suite is one of a selected number of different sensor suites having corresponding different sensors to enable the sensor module to be replaced with another sensor module having a different one of the different sensor suites.

10. An instrumented rail system, the system comprising:

a mobile base station; and

a deployable vehicle, the deployable vehicle comprising;

a first locomotion module having a first mobility assembly configured to engage a first rail;

a second locomotion module having a second mobility assembly configured to engage a second rail;

an adjustable frame extendable between the first and second locomotion modules by a distance corresponding to the distance between the first and second rails; and

a sensor module removably attachable to the frame, the sensor module including a sensor suite having a plurality of sensors for gathering data while the vehicle is deployed, the sensor module comprising a communications module having a first radio configured to enable the vehicle to establish at least a first wireless communication link with the mobile base station,

wherein the communications module further includes a second radio configured to establish a second wireless communication link with the mobile base station,

wherein the first and second locomotion modules are configured to be transported by an operator to a deployment location, via a first transport unit, for unmanned deployment, and

wherein the sensor module is configured to be transported by the operator to the deployment location, via a second transport unit, for the unmanned deployment.

11. The system of claim 10, wherein the sensor suite is one of a selected number of different sensor suites having corresponding different sensors to enable the sensor module to be replaced with another sensor module having a different one of the different sensor suites.

12. The system of claim 10, wherein the first and second locomotion modules are configured to be transported by a first operator, wherein the sensor module is configured to be transported by a second operator, the first and second operators being different.

13. The system of claim 12, wherein the mobile base station is configured to be transported by either the first or second operator via a backpack.

14. The system of claim 10, wherein the mobile base station comprises a second communication module including radios corresponding to the first and second radios, and wherein the mobile base station further comprises a removable user interface configured to operably couple to the mobile base station wirelessly.

15. The system of claim 14, wherein the removable user interface comprises a tablet.

16. The system of claim 10, wherein each of the mobile base station and the vehicle include a control unit, and wherein the control unit of each of the mobile base station and the vehicle simultaneously record data captured by the sensor suite.

17. The system of claim 10, wherein the first radio or the second radio can be modified while deployed to change range characteristics of the first radio or second radio.

18. The system of claim 10, wherein the sensor suite comprises a camera unit operably coupled to a positioning system configured to reposition the camera unit relative to the vehicle.

19. The system of claim 18, wherein the positioning system comprises an extendable mast or a pan/tilt unit, wherein the camera unit comprises one or more of a visible light camera, a thermal imaging camera, a near infrared camera, and wherein the camera unit further comprises a visible spotlight or a near infrared spotlight.

20. The system of claim 10, wherein the deployable vehicle is configured to be autonomously operated based on onboard sensors and control logic, or operate through tethered operation via a wire or fiber optic cable connection to the base station.