Railway Track Monitoring

• US 20120274772A1
• Filed: 04/27/2011
• Published: 11/01/2012
• Est. Priority Date: 04/27/2011
• Status: Active Grant

• Current Assignee: Trimble Inc.
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Nichols, Mark Edward, Fosburgh, Bryn Allen, Holmgren, Per Martin, Larsson, Nils Thomas
• Granted Patent: US 9,810,533 B2
• Time in Patent Office: Days
• US Class Current: 348/149
• 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 23/041 Obstacle detection
• CPC Class Codes: B61L 23/047 Track or rail movements
• CPC Class Codes: B61L 25/026 Relative localisation, e.g. using odometer
• CPC Class Codes: G01C 11/04 Interpretation of pictures
• CPC Class Codes: G01C 7/04 involving a vehicle which moves along the profile to be traced

Abstract

Novel tools and techniques for monitoring railway track geometry. In one aspect, some such tools and techniques can determine a location of a platform along a railway, capture one or more images of the railway, and/or analyze the rail configuration at that point. In another aspect, some solutions might employ photogrammetric techniques to analyze the rail configuration and thereafter store data about the rail configuration, perhaps correlated with the location of the images, in a data store.

Claims

1. A method, comprising:

capturing, with a first image capture device mounted on a mobile platform configured for movement along a railway comprising one or more rails, a series of position reference images as the mobile platform travels along the railway;

identifying, in at least one position reference image, a visual target positioned proximate to the railway;

determining a distance from the mobile platform to the visual target;

calculating, at a computer system, a location of the mobile platform on the railway, based at least in part on the determined distance from the mobile platform to the visual target;

capturing, with a second one or more image capture devices, one or more railway images of the one or more rails;

performing, at the computer system, photogrammetric analysis on at least one of the one or more rail images to identify a rail configuration of the railway;

associating the rail configuration with the location of the mobile platform on the railway; and

storing, in a data store, a data record comprising data about the rail configuration and the associated location of the mobile platform.

2. The method of claim 1, wherein determining a distance from the mobile platform to the visual target comprises:

activating an electronic distance measurement system on the mobile platform, based on an identification of the visual target; and

measuring, with the electronic distance measurement device, a distance from the mobile platform to the visual target.

3. The method of claim 1, wherein calculating a location of the mobile platform comprises calculating a position of a target point with a known position relative to the mobile platform.

4. The method of claim 3, wherein the target point is a point within the field of view of at least one of the second one or more image capture devices.

5. The method of claim 1, wherein calculating a location of the mobile platform on the railway comprises calculating the location of the mobile platform based at least in part on the determined distance from the mobile platform to the visual target and at least in part on a position solution obtained from a global network satellite system (“

GNSS”

).

6. The method of claim 1, further comprising:

activating the second one or more image capture devices, to capture the one or more railway images, based at least in part on the calculated location of the mobile platform.

7. The method of claim 1, wherein the first one or more image capture devices and the second one or more image capture devices are the same one or more image capture devices.

8. The method of claim 1, wherein the rail configuration comprises a dimension metric.

9. The method of claim 1, further comprising:

determining whether the rail configuration is satisfactory.

10. The method of claim 9, further comprising:

generating an alert if the rail configuration is determined to be unsatisfactory.

11. The method of claim 9, wherein determining whether the railway configuration is satisfactory comprises comparing the data record with a previously-stored data record corresponding to the location of the mobile platform.

12. The method of claim 9, wherein determining whether the railway configuration is satisfactory comprises comparing the rail configuration with one or more nominal values for a satisfactory rail configuration.

13. The method of claim 1, wherein the railway comprises a plurality of rails.

14. The method of claim 13, wherein the rail configuration comprises an inter-rail spacing between two or more of the plurality of rails.

15. The method of claim 13, wherein the rail configuration comprises a slope between two or more of the plurality of rails.

16. The method of claim 13, wherein the rail configuration comprises an elevation of at least one of the plurality of rails.

17. The method of claim 1, wherein performing photogrammetric analysis on at least one of the one or more rail images comprises identifying, in the at least one image, a location of a first edge of a first rail.

18. The method of claim 17, wherein performing photogrammetric analysis on at least one of the one or more rail images further comprises:

identifying a location of a second edge of a second rail; and

calculating a distance between the rails, based on the location of the first edge of the first rails and the location of the second edge of the second rail.

19. The method of claim 1, wherein the computer system is located on the mobile platform.

20. The method of claim 1, wherein the mobile platform is a railway car in service.

21. A railway track monitoring system, comprising:

a mobile platform configured for movement along a railway comprising one or more rails;

a first image capture device, mounted on the mobile platform, for capturing a series of position reference images as the mobile platform travels along the railway;

a second one or more image capture devices for capturing one or more railway images of the one or more rails;

a data store for storing railway configuration data; and

a computer system comprising one or more processors and one or more computer readable storage media having encoded thereon a set of instructions operable by the one or more processors to cause the computer system to perform one or more operations, the set of instructions comprising;

instructions for identifying, in at least one position reference image, the visual target;

instructions for determining a distance from the mobile platform to the visual target;

instructions for calculating a position of the mobile platform, based at least in part on the determined distance from the mobile platform to the visual target;

instructions for performing photogrammetric analysis on at least one of the one or more rail images to identify a rail configuration of the railway;

instructions for associating the rail configuration with the location of the mobile platform on the railway; and

instructions for storing, in the data store, a record comprising data about the rail configuration and the associated location of the mobile platform.

22. An apparatus, comprising:

a computer readable medium having encoded thereon a set of instructions executable by one or more computers to perform one or more operations, the set of instructions comprising;

instructions for identifying, in at least one position reference image captured by a first image capture device mounted on a mobile platform configured for movement along a railway comprising one or more rails, a visual target positioned proximate to the railway;

instructions for determining a distance from the mobile platform to the visual target;

instructions for calculating a position of the mobile platform, based at least in part on the determined distance from the mobile platform to the visual target;

instructions for performing photogrammetric analysis on one or more rail images, captured by a second one or more image capture devices, to identify a rail configuration of the railway;

instructions for associating the rail configuration metric with the location of the mobile platform on the railway; and

instructions for storing, in a data store, a record comprising data about the rail configuration and the associated location of the mobile platform.

23. A computer system, comprising:

one or more processors; and

a computer readable medium in communication with the one or more processors, the computer readable medium having encoded thereon a set of instructions executable by the computer system to perform one or more operations, the set of instructions comprising;

instructions for identifying, in at least one position reference image captured by a first image capture device mounted on a mobile platform configured for movement along a railway comprising one or more rails, a visual target positioned proximate to the railway;

instructions for determining a distance from the mobile platform to the visual target;

instructions for calculating a position of the mobile platform, based at least in part on the determined distance from the mobile platform to the visual target;

instructions for performing photogrammetric analysis on one or more rail images, captured by a second one or more image capture devices, to identify a rail configuration of the railway;

instructions for associating the rail configuration metric with the location of the mobile platform on the railway; and

instructions for storing, in a data store, a record comprising data about the rail configuration and the associated location of the mobile platform.

24. A method, comprising:

determining a location of a mobile platform configured for movement along a railway comprising one or more rails;

capturing, with a first one or more image capture devices, one or more railway images of the one or more rails;

performing, at the computer system, photogrammetric analysis on at least one of the one or more rail images to identify a rail configuration of the railway;

associating the rail configuration with the location of the mobile platform on the railway; and

storing, in a data store, a record comprising data about the rail configuration and the associated location of the mobile platform.

25. The method of claim 24, wherein determining a location of the mobile platform comprises:

capturing, with a second image capture device mounted on the mobile platform, a series of position reference images as the mobile platform travels along the railway;

identifying, in at least two position reference images, a visual target positioned proximate to the railway;

determining a position of the mobile platform relative to the visual target, based on analysis of the location of the visual target in the at least two position reference images; and

calculating, at a computer system, a location of the mobile platform on the railway, based at least in part on determined position of the mobile platform relative to the visual target.

26. The method of claim 24, wherein determining a location of the mobile platform comprises determining the location based at least in part on information received by a global navigation satellite system (“

GNSS”

) receiver.

27. The method of claim 24, wherein determining a location of the mobile platform comprises determining the location based at least in part on inertial measurements.

28. The method of claim 24, wherein determining a location of the mobile platform comprises determining the location based at least in part on image-based motion tracking.

29. The method of claim 28, wherein the image-based motion tracking comprises performing reverse photogrammetry on at least some of the one or more railway images.