Positive train control system, apparatus and method

• US 10,315,673 B2
• Filed: 06/19/2017
• Issued: 06/11/2019
• Est. Priority Date: 08/05/2014
• Status: Active Grant

• Current Assignee: Avante International Technology
• Original Assignee: Avante International Technology
• Inventors: Chung, Kevin Kwong-Tai, Chung, Albert Han-Ping, Huang, Yulin, Zhu, Dexi
• Primary Examiner(s): Lang, Michael D
• Application Number:
  US15/626,789
• Publication Number:
  US 20170349194A1
• Time in Patent Office: 722 Days
• CPC Class Codes: B61L 15/0027 Radio-based, e.g. using GSM-R
• CPC Class Codes: B61L 15/0054 Train integrity supervision, e.g. end-of-train [EOT] devices
• CPC Class Codes: B61L 15/0062 On-board target speed calculation or supervision
• CPC Class Codes: B61L 15/0072 On-board train data handling
• CPC Class Codes: B61L 2201/00 Control methods
• CPC Class Codes: B61L 2205/04 Satellite based navigation systems, e.g. global positioning system [GPS]
• CPC Class Codes: B61L 23/041 Obstacle detection
• CPC Class Codes: B61L 23/047 Track or rail movements
• CPC Class Codes: B61L 23/14 automatically operated
• CPC Class Codes: B61L 23/16 Track circuits specially adapted for section blocking
• CPC Class Codes: B61L 25/021 Measuring and recording of train speed
• CPC Class Codes: B61L 25/025 Absolute localisation, e.g. providing geodetic coordinates
• CPC Class Codes: B61L 27/04 Automatic systems, e.g. controlled by train; Change-over to manual control
• CPC Class Codes: B61L 27/20 Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
• CPC Class Codes: B61L 27/70 Details of trackside communication
• CPC Class Codes: G01S 13/60 wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track G01S13/64 takes precedence
• CPC Class Codes: G01S 13/862 Combination of radar systems with sonar systems
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/86 : Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/931 : of land vehicles
• CPC Class Codes: G01S 2013/93271 : in the front of the vehicles
• CPC Class Codes: G01S 2013/9328 : Rail vehicles

Abstract

A positive train control may comprise a plurality of different sensors coupled to a processor that determines whether there is an anomaly of a track way, and if there is, provides an alert and/or a train control action. The plural sensors may include a visual imager, an infrared imager, a radar, a doppler radar, a laser sensor, a laser ranging device, an acoustic sensor, and/or an acoustic ranging device. Data from the plural sensors is geo-tagged and time tagged. Some embodiments of the train control employ track monitors, switch monitors and/or wayside monitors, and some employ locating devices such as GPS and inertial devices.

Claims

1. A positive train control unit mountable on a train movable on a track way comprising:

a plurality of different sensors selected from the group including a visual imager, an infrared imager, a radar, a doppler radar, a laser sensor, a laser ranging device, an acoustic sensor, and an acoustic ranging device, said plurality of different sensors having respective fields of view sensing in a predetermined forward looking direction along the track way from the train;

a locating device including a global positioning device, an inertial navigation device, or both a global positioning device and an inertial navigation device, that independently determines the location of said positive train control unit and represents the location as location data;

a processor to which said plurality of different sensors and said locating device are coupled for receiving the data sensed thereby, wherein said processor associates the data sensed by said plurality of different sensors with location data and with time data corresponding to a location and a time at which such data is acquired, whereby such data is geo-tagged and time-tagged to the location and time at which it is acquired;

a data receiver configured to receive data from a track monitor, or from a switch monitor, or from a wayside monitor, or from a combination thereof, and to couple that data to said processor;

said processor determining from the data sensed by said plurality of different sensors, from the location data, and/or from data received by said data receiver, the location, speed and direction of said positive train control unit relative to predetermined track way configuration data and a train routing order;

said processor determining from data sensed by said plurality of different sensors and from data received by said data receiver whether there is an anomaly the track way proximate forward in the direction of travel of said positive train control unit; and

(1) when said processor determines that the location, speed and/or direction of said positive train control unit differs from the location, speed and/or direction defined in the train routing order, or

(2) when said processor determines that there is an anomaly in the track way forward of said positive train control unit, or

(3) when said processor determines any combination of (1) and (2),

then said processor communicates an alert to an alerting device or communicates a control signal to a train control to at least adjust the speed of the train on which said positive train control unit is mounted or both.

2. The positive train control unit of claim 1 further comprising:

a communication device configured to receive the routing order data and the track way configuration data from an external source and to couple that data to said processor.

3. The positive train control unit of claim 1 further comprising:

a communication device configured to communicate data from the plurality of different forward looking sensors, or location data from the global positioning device and from the inertial navigation device, or data received by the data receiver including data from the track monitor, from the switch monitor, and/or from the wayside monitor, to a central train control facility.

4. The positive train control unit of claim 3 wherein:

the data from the plurality of different forward looking sensors and the data received by the data receiver including data from the track monitor, from the switch monitor, and/or from the wayside monitor, are geo-tagged and time-tagged.

5. The positive train control unit of claim 1 wherein:

the track monitor includes a sensor monitoring rail spacing, distortion and/or integrity;

or

the switch monitor includes a sensor monitoring switch position and switch closure to a fully transferred position;

or

the wayside monitor includes a plurality of different sensors selected from the group including a visual imager, an infrared imager, a radar, a doppler radar, a laser sensor, a laser ranging device, an acoustic sensor, and an acoustic ranging device, for detecting an object on a track way proximate the wayside monitor;

or

any combination thereof.

6. The positive train control unit of claim 1 wherein the control signal to a train control at least to reduce the speed of the train on which said positive train control unit is mounted causes the train control to reduce the speed of the train and/or to stop the train in accordance with a predetermined speed reduction profile or with a predetermined safe emergency speed reduction profile, or both.

7. The positive train control unit of claim 1 further comprising:

a locating device mountable at an end of the train remote from said positive train control unit, said locating device when mounted at the remote end of the train providing location data of the remote end of the train to said processor; and

said processor determining the length of the train by comparing the location data from said locating device and the location data from said global positioning device or from said inertial navigation device or from both.

8. The positive train control unit of claim 7 wherein said processor communicates an alert to an alerting device or communicates a control signal to a train control at least to reduce the speed of the train on which said positive train control unit is mounted, or both, in response to the length of the train changing by more than a predetermined difference in length.

9. The positive train control unit of claim 7 wherein said locating device mountable at an end of the train remote from said positive train control unit includes a global positioning device, an inertial navigation device, or both a global positioning device and an inertial navigation device.

10. A positive train control unit for a track way comprising:

a plurality of different sensors selected from the group including a visual imager, an infrared imager, a radar, a doppler radar, a laser sensor, a laser ranging device, an acoustic sensor, and an acoustic ranging device, said plurality of different sensors having respective fields of view sensing at least in a predetermined direction along the track way;

a first device providing a representation of the location of said positive train control unit as location data;

a processor to which said plurality of different sensors and said first device are coupled for receiving the data sensed thereby, wherein said processor associates the data sensed by said plurality of different sensors with location data and with time data corresponding to a location and a time at which such data is acquired, whereby such data is geo-tagged and time-tagged to the location and time at which it is acquired;

a data receiver configured to receive data from a track monitor, or from a switch monitor, or from a wayside monitor, or from a combination thereof, and to couple that data to said processor;

a communication device configured to communicate at least along the track way proximate said positive train control unit;

said processor determining from the data sensed by said plurality of different sensors, from the location data, and/or from data received by said data receiver, the location of said positive train control unit relative to predetermined track way configuration data;

said processor determining from data from the data sensed by said plurality of different sensors and/or from data received by said data receiver whether there is an anomaly the track way proximate said positive train control unit; and

when said processor determines that there is an anomaly in the track way proximate said positive train control unit,

then said processor causes said communication device to communicate an alert of an anomaly in the track way,

whereby a train that is proximate said positive train control unit is alerted to such anomaly in the track way so that the speed of an approaching train can be adjusted.

11. The positive train control unit of claim 10 wherein said first device providing a representation of the location of said positive train control unit includes:

a global positioning device that determines the location of said positive train control unit and that represents the location as location data;

or

a memory storing a predetermined location of said positive train control unit as location data;

or

a global positioning device that determines the location of said positive train control unit and that represents the location as location data and a memory storing a predetermined location of said positive train control unit as location data.

12. The positive train control unit of claim 10 wherein said communication device is configured to receive track way configuration data from an external source and to couple that data to said processor.

13. The positive train control unit of claim 10 wherein said communication device is configured to communicate data from the plurality of different sensors, location data and data received by the data receiver to a central train control facility.

14. The positive train control unit of claim 13 wherein:

the data from the plurality of different sensors and data received by the data receiver including data from a track monitor, from a switch monitor, and/or from a wayside monitor, are geo-tagged and time-tagged.

15. The positive train control unit of claim 10 in combination with:

a track monitor including a sensor monitoring rail spacing, distortion and/or integrity;

or

a switch monitor including a sensor monitoring switch position and switch closure to a fully transferred position;

or

a wayside monitor;

or

any combination thereof; and

wherein data sensed by said track monitor or by said switch monitor or by said wayside monitor or by any combination thereof is communicated to said processor.

16. The positive train control unit of claim 15 wherein:

the data from the plurality of different sensors and the data received by the data receiver including data from the track monitor, from the switch monitor, and/or from the wayside monitor, are geo-tagged and time-tagged.

17. The positive train control unit of claim 10 wherein the control signal for activating a train control on a train causes the train control to reduce the speed of the train and/or stop the train in accordance with a predetermined speed reduction profile or with a predetermined safe emergency speed reduction profile, or both.

18. The positive train control unit of claim 10 wherein a crossing of the track way is within the respective fields of view of said plurality of different sensors, whereby vehicles and other objects on or crossing the track way are identified by said positive train control unit and are communicated by said communication device.

19. A positive train control unit for a track way crossing comprising:

a plurality of different sensors selected from the group including a visual imager, an infrared imager, a radar, a doppler radar, a laser sensor, a laser ranging device, an acoustic sensor, and an acoustic ranging device, said plurality of different sensors having respective fields of view sensing at least in a predetermined direction along the track way including a crossing thereof;

a first device providing a representation of the location of said positive train control unit as location data;

a processor to which said plurality of different sensors and said first device are coupled for receiving the data sensed thereby, wherein said processor associates the data sensed by said plurality of different sensors with location data and with time data corresponding to a location and a time at which such data is acquired, whereby such data is geo-tagged and time-tagged to the location and time at which it is acquired;

a data receiver configured to receive data from a track monitor, or from a switch monitor, or from a wayside monitor, or from a combination thereof, and to couple that data to said processor;

a communication device configured to communicate at least along the track way proximate said positive train control unit;

said processor determining from the data sensed by said plurality of different sensors, from the location data, and from data received by said data receiver, the location of said positive train control unit relative to predetermined track way configuration data;

said processor determining from the data sensed by said plurality of different sensors and from data received by said data receiver whether there is an anomaly in the track way proximate said positive train control unit; and

when said processor determines that there is an anomaly in the track way and/or the crossing thereof proximate said positive train control unit,

then said processor causes said communication device to communicate an alert of an anomaly in the track way and/or the crossing thereof,

whereby a train that is proximate said positive train control unit is alerted to such anomaly in the track way and/or the crossing thereof so that the speed of an approaching train can be adjusted.

20. The positive train control unit of claim 19 wherein said first device providing a representation of the location of said positive train control unit includes:

a global positioning device that determines the location of said positive train control unit and that represents the location as location data;

or

a memory storing a predetermined location of said positive train control unit as location data;

or

a global positioning device that determines the location of said positive train control unit and that represents the location as location data and a memory storing a predetermined location of said positive train control unit as location data.

21. The positive train control unit of claim 19 further comprising a data receiver configured to receive data from a track monitor, or from a switch monitor, or from a track monitor and a switch monitor, and to couple that data to said processor.

22. The positive train control unit of claim 19 further comprising:

a communication device configured to receive track way configuration data from an external source and to couple that data to said processor.

23. The positive train control unit of claim 22 wherein said communication device is configured to communicate data from the plurality of different sensors and location data to a central train control facility.

24. The positive train control unit of claim 19 in combination with:

a track monitor including a sensor monitoring rail spacing, distortion and/or integrity;

or

a switch monitor including a sensor monitoring switch position and switch closure to a fully transferred position;

or

a wayside monitor;

or

any combination thereof; and

wherein data sensed by said track monitor or by said switch monitor or by said wayside monitor or by any combination thereof is communicated to said processor.

25. The positive train control unit of claim 24 wherein:

the data from the plurality of different sensors and the data received by the data receiver including data from the track monitor, from the switch monitor, and/or from the wayside monitor, are geo-tagged and time-tagged.

26. The positive train control unit of claim 19 wherein the control signal for activating a train control on a train causes the train control to reduce the speed of the train and/or stop the train in accordance with a predetermined speed reduction profile or with a predetermined safe emergency speed reduction profile, or both.

27. A positive train control method for a train movable on a track way comprising:

receiving sensor data from a plurality of different sensors selected from the group including a visual imager, an infrared imager, a radar, a doppler radar, a laser sensor, a laser ranging device, an acoustic sensor, and an acoustic ranging device, the plurality of different sensors having respective fields of view sensing in a predetermined forward looking direction along the track way from the train;

receiving location data from a locating device including a global positioning device, an inertial navigation device, or both a global positioning device and an inertial navigation device, that independently determines the location of the train;

associating the sensor data received from the plurality of different sensors with location data and with time data corresponding to a location and a time at which such data is acquired, whereby such sensor data is geo-tagged and time-tagged to the location and time at which it is acquired;

receiving data from a track monitor, or from a switch monitor, or from a wayside monitor, or from a combination thereof, when within range of such track monitor, switch monitor, wayside monitor, or combination thereof;

determining from the sensor data sensed by the plurality of different sensors and from the location data, the location, speed and direction of the train relative to predetermined track way configuration data and a train routing order;

determining from the sensor data sensed by the plurality of different sensors and from data received from such track monitor, switch monitor, wayside monitor, or combination thereof, whether there is an anomaly in the track way proximate forward in the direction of travel of the train; and

(1) when determined that the location, speed and/or direction of the train differs from the location, speed and/or direction defined in the train routing order, or

(2) when determined that there is an anomaly in the track way forward of the train, or

(3) when any combination of (1) and (2) is determined,

then communicating an alert to an alerting device or communicating a control signal for a train control or both.

28. The positive train control method of claim 27 further comprising:

receiving train routing order data and track way configuration data from an external source.

29. The positive train control method of claim 27 further comprising:

communicating sensor data from the plurality of different forward looking sensors, or location data from the global positioning device and from the inertial navigation device, or data received from the track monitor, from the switch monitor, and/or from the wayside monitor, to a central train control facility.

30. The positive train control method of claim 27 wherein:

data from the plurality of different forward looking sensors and data received from the track monitor, from the switch monitor, and/or from the wayside monitor, are geo-tagged and time-tagged.

31. The positive train control method of claim 27 wherein the control signal communicated for a train control causes the train control to reduce the speed of the train and/or to stop the train in accordance with a predetermined speed reduction profile or with a predetermined safe emergency speed reduction profile, or both.

32. The positive train control method of claim 27 wherein the location data is for a first end of the train, further comprising:

receiving location data for a second end of the train that is remote from the first end of the train;

determining the length of the train by comparing the location data for the first end of the train and the location data for the second end of the train; and

if the length of the train changes by more than a predetermined difference in length, then;

communicating an alert to an alerting device or communicating a control signal to a train control to at least to reduce the speed of the train, or both.

33. A control unit for a right of way comprising:

a plurality of different sensors selected from the group including a visual imager, an infrared imager, a radar, a doppler radar, a laser sensor, a laser ranging device, an acoustic sensor, and an acoustic ranging device, said plurality of different sensors having respective fields of view sensing at least in a predetermined direction along the right of way;

a first device providing a representation of the location of said control unit as location data;

a processor to which said plurality of different sensors and said first device are coupled for receiving the data sensed thereby, wherein said processor associates the data sensed by said plurality of different sensors with location data and with time data corresponding to a location and a time at which such data is acquired, whereby such data is geo-tagged and time-tagged to the location and time at which it is acquired;

a data receiver configured to receive data from a wayside monitor and to couple that data to said processor;

a communication device configured to communicate at least along the right of way proximate said control unit;

said processor determining from the data sensed by said plurality of different sensors, from the location data, and from data received by said data receiver, the location of said control unit relative to predetermined right of way configuration data;

said processor determining from the data sensed by said plurality of different sensors and from data received by said data receiver whether there is an anomaly in the right of way proximate said control unit; and

when said processor determines that there is an anomaly in the right of way proximate said control unit,

then said processor causes said communication device to communicate an alert of an anomaly in the right of way thereof,

whereby an alert of such anomaly in the right of way is communicated by said control unit.

34. The control unit of claim 33 wherein said first device providing a representation of the location of said control unit includes:

a global positioning device that determines the location of said control unit and that represents the location as location data;

or

a memory storing a predetermined location of said control unit as location data;

or

a global positioning device that determines the location of said control unit and that represents the location as location data and a memory storing a predetermined location of said control unit as location data.

35. The control unit of claim 33 further comprising a data receiver configured to receive data from a wayside monitor, and to couple that data to said processor.

36. The control unit of claim 33 further comprising:

a communication device configured to receive right of way configuration data from an external source and to couple that data to said processor.

37. The control unit of claim 36 wherein said communication device is configured to communicate data from the plurality of different sensors and location data to a central control facility.

38. The control unit of claim 33 in combination with:

a wayside monitor, wherein data sensed by said wayside monitor is communicated to said processor.

39. The control unit of claim 38 wherein:

the data from the plurality of different sensors and the data received by the data receiver including data from the wayside monitor, are geo-tagged and time-tagged.

40. The control unit of claim 33 further comprising a structure configured to support said control unit above a fixed location proximate the right of way.

41. The control unit of claim 33 wherein the right of way includes:

a way or structure that guides or otherwise limits the degrees of freedom of the travel of a train and/or other vehicle thereon, including a track, a railway whether of one or two or more rails, railways of standard, narrow or any other gauge, a guide, a guide way, an electrically controlled guideway, a magnetically levitating guide, a magnetically levitating guide way, a road, a roadway, an electrically controlled road, an electrically controlled roadway, a monorail, a canal, a channel, and any combination of the foregoing.