Mobile asset data recorder and transmitter

• US 9,285,294 B2
• Filed: 04/12/2013
• Issued: 03/15/2016
• Est. Priority Date: 04/13/2012
• Status: Active Grant

• Current Assignee: Wi-Tronix, LLC
• Original Assignee: Wi-Tronix, LLC
• Inventors: Matta, Lisa A., Jordan, Lawrence B Jr.
• Primary Examiner(s): Shaawat, Mussa A
• Application Number:
  US13/861,826
• Publication Number:
  US 20130274954A1
• Time in Patent Office: 1,068 Days
• US Class Current: 1/1
• CPC Class Codes: G01B 21/02 for measuring length, width, or thickness G01B21/10 takes precedence
• CPC Class Codes: G01B 21/22 for measuring angles or tapers; for testing the alignment of axes
• CPC Class Codes: G01C 17/38 Testing, calibrating, or compensating of compasses
• CPC Class Codes: G01C 19/00 Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
• CPC Class Codes: G01C 19/5776 Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01C 25/00 Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass testing, calibrating or compensating compasses G01C17/38
• CPC Class Codes: G01F 23/28 by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
• CPC Class Codes: G01F 23/2962 Measuring transit time of reflected waves
• CPC Class Codes: G01F 23/804 containing circuits handling parameters other than liquid level
• CPC Class Codes: G01F 9/001 with electric, electro-mechanic or electronic means G01F9/008 and G01F9/02 take precedence
• CPC Class Codes: G01H 1/00 Measuring characteristics of vibrations in solids by using direct conduction to the detector G01H9/00, G01H11/00 take precedence
• CPC Class Codes: G01M 17/08 Railway vehicles
• CPC Class Codes: G01P 15/00 Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
• CPC Class Codes: G01P 15/18 in two or more dimensions
• CPC Class Codes: G01S 19/252 Employing an initial estimate of location in generating assistance data
• CPC Class Codes: G06F 17/00 Digital computing or data processing equipment or methods, specially adapted for specific functions information retrieval, database structures or file system structures therefor G06F16/00
• CPC Class Codes: G07C 5/08 Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
• CPC Class Codes: G07C 5/085 using electronic data carriers
• CPC Class Codes: G07C 5/0866 the electronic data carrier being a digital video recorder in combination with video camera
• CPC Class Codes: H04N 1/2133 : Recording or reproducing at a specific moment, e.g. time interval or time-lapse
• CPC Class Codes: H04N 5/77 : between a recording apparatus and a television camera

Abstract

An acceleration-based mobile asset data recorder and transmitter equipped with a wireless processing unit, an event recorder, a digital video recorder, a fuel level sensor, and an inertial navigation sensor board. The inertial navigation sensor board includes a 3-axis gyroscope, a 3-axis accelerometer, a 3-axis magnetometer, and a microcontroller. The data recorder and transmitter allows for automatic orientation, automatic compass calibration, fuel compensation with pitch and roll, emergency brake application with impact detection, rough operating condition detection, engine running detection, and inertial navigation of a mobile asset. Users can use the normal operation of their mobile assets to locate and alert, in real-time, areas where their assets are encountering rough operating environments, to provide for quicker emergency response, and to validate the effectiveness of repairs and rerouting.

Claims

1. A method for recording, processing and transmitting data from a mobile asset, comprising the steps of:

a. at least one event data recorder, onboard the mobile asset, monitoring real-time status of at least one input sensor and logging data relating to the mobile asset;

b. at least one digital video recorder, onboard the mobile asset, recording still images, video and acoustics in real-time;

c. at least one inertial navigation sensor board onboard the mobile asset, said board comprising a microcontroller communicating with and processing data from a 3-axis accelerometer;

d. reading an x-axis raw acceleration value, a y-axis raw acceleration value, and a z-axis raw acceleration value from the 3-axis accelerometer;

e. filtering the x-axis raw acceleration value, y-axis raw acceleration value and the z-axis raw acceleration value into an x-axis filtered acceleration value, a y-axis filtered acceleration value, and a z-axis filtered acceleration value;

f. translating the axes of the inertial navigation sensor board to the axes of the mobile asset and determining an x-axis translated raw acceleration value by translating the x-axis raw acceleration value to the axes of the mobile asset, determining a y-axis translated raw acceleration value by translating the y-axis raw acceleration value to the axes of the mobile asset, and determining a z-axis translated raw acceleration value by translating the z-axis raw acceleration value to the axes of the mobile asset; and

g. translating the axes of the inertial navigation sensor board to the axes of the mobile asset and determining an x-axis translated filtered acceleration value by translating the x-axis filtered acceleration value to the axes of the mobile asset, determining a y-axis translated filtered acceleration value by translating the y-axis filtered acceleration value to the axes of the mobile asset, and determining a z-axis translated filtered acceleration value by translating the z-axis filtered acceleration value to the axes of the mobile asset.

2. The method of claim 1, further comprising the steps of:

a. establishing an x-axis acceleration duration, a y-axis acceleration duration, and a z-axis acceleration duration;

b. establishing an x-axis acceleration threshold, a y-axis acceleration threshold, and a z-axis acceleration threshold;

c. storing the x-axis acceleration duration, the y-axis acceleration duration, and the z-axis acceleration duration;

d, storing the x-axis acceleration threshold, the y-axis acceleration threshold, and the z-axis acceleration threshold;

e. determining an x-axis filtered threshold value by adding the x-axis translated filtered acceleration value to the x-axis acceleration threshold;

f. determining a y-axis filtered threshold value by adding the y-axis translated filtered acceleration value to the y-axis acceleration threshold;

g. determining a z-axis filtered threshold value by adding the z-axis translated filtered acceleration value to the z-axis acceleration threshold; and

i. continually comparing the x-axis filtered threshold value to the x-axis translated raw acceleration value, the y-axis filtered threshold value to the y-axis translated raw acceleration value, and the z-axis filtered threshold value to the z-axis translated raw acceleration value.

3. The method of claim 2, further comprising the steps of:

a. activating a timer when at least one of the x-axis translated raw acceleration value exceeds the x-axis filtered threshold value, the y-axis translated raw acceleration value exceeds the y-axis filtered threshold value, and the z-axis translated raw acceleration value exceeds the z-axis filtered threshold value;

b. determining a timer duration of the timer when at least one of the x-axis translated raw acceleration value does not exceed the x-axis filtered threshold value, the y-axis translated raw acceleration value does not exceed the y-axis filtered threshold value, and the z-axis translated raw acceleration value does not exceed the z-axis filtered threshold value, said timer duration comprising the duration that at least one of the x-axis translated raw acceleration value exceeded the x-axis acceleration filtered threshold value, the y-axis translated raw acceleration value exceeded the y-axis filtered threshold value, and the z-axis translated raw acceleration value exceeded the z-axis filtered threshold value;

c. storing a trigger event when the timer duration exceeds at least one of the x-axis acceleration duration, the y-axis acceleration duration, and the z-axis acceleration duration;

d. monitoring the event data recorder for at least one periodic data message;

e. receiving at least one periodic data message from the event data recorder;

f. detecting when the periodic data message indicates an emergency brake application discrete signal occurred; and

g. storing at least one of a trigger event time when the trigger event occurred and a brake time and an emergency brake event when the emergency brake application discrete signal occurred.

4. The method of claim 3, further including the steps of:

a. triggering an emergency brake application with an impact alert when the trigger event time and the brake time are in close temporal proximity;

b. requesting a download of at least one of a still image file, an acoustic file, and a digital video from the onboard digital video recorder, said at least one of the still image file, the acoustic file, and the digital video recorded a predetermined time period prior to, during, and after at least one of the trigger event time and the brake time;

c. receiving the at least one of the still image file, the acoustic file, and the digital video; and

d. sending the data log file and the at least one of the still image file, the acoustic file, and the digital video to a back office in real time.

5. The method of claim 4, further comprising the step of:

a. sending at least one alert indicating at least one of a GPS location, digital video, data from the event data recorder, actual force when a collision occurred, and a rollover alert and a derailment alert when at least one of a rollover and a derailment occurred as a result of said collision.

6. The method of claim 3, wherein the trigger event comprises storing specifics on the axes, the timer duration, and the trigger event time.

7. The method of claim 3, wherein the at least one periodic data message comprises at least one real-time status of the at least one input sensor.

8. The method of claim 1, further comprising the steps of:

a. at least one fuel level sensor measuring the amount of fuel inside a fuel tank;

d. calculating the mobile asset'"'"'s pitch, wherein the mobile asset'"'"'s pitch is determined by applying the equation;

9. The method of claim 2, further comprising the steps of:

a. at least one GPS sensor, onboard the mobile asset, receiving GPS signals from a global positioning system;

b. the at least one event data recorder, onboard the mobile asset, logging data relating to the mobile asset;

c. activating a timer when at least one of the x-axis translated raw acceleration value exceeds the x-axis filtered threshold value, the y-axis translated raw acceleration value exceeds the y-axis filtered threshold value, and the z-axis translated raw acceleration value exceeds the z-axis filtered threshold value;

d. determining the timer duration of the timer when at least one of the x-axis translated raw acceleration value does not exceed the x-axis filtered threshold value, the y-axis translated raw acceleration value does not exceed the y-axis filtered threshold value, and the z-axis translated raw acceleration value does not exceed the z-axis filtered threshold value, said timer duration comprising the duration that at least one of the x-axis translated raw acceleration value exceeded the x-axis filtered threshold value, the y-axis translated raw acceleration value exceeded the y-axis filtered threshold value, and the z-axis translated raw acceleration value exceeded the z-axis filtered threshold value;

e. storing a trigger event at a time when the timer duration exceeds at least one of the x-axis acceleration duration, the y-axis acceleration duration, and the z-axis acceleration duration;

f. receiving at least one periodic data message from the at least one of the event data recorder and the GPS sensor, said at least one periodic data message including a speed of the mobile asset; and

g. monitoring the speed of the mobile asset, wherein the asset'"'"'s speed is determined by applying the equation;

∫

asset'"'"'s acceleration_{x-axis translated filtered value}.

10. The method of claim 9, further comprising the steps of:

a. determining which axis the trigger event was triggered in when the asset'"'"'s speed exceeds a specified value and the trigger event was stored at the same time;

b. logging a potential track issue alert if when the trigger event was triggered in the z-axis; and

c. logging an operator mishandling alert if when the trigger event was triggered in one of the x-axis and the y-axis.

11. The method of claim 10, further comprising the step of:

a. sending alerts indicating any of rough operating environments, bad tracks and switches, rough seas, poor roads, repaired routes, GPS location, video and access to event recorder information.

12. The method of claim 9, wherein the trigger event comprises storing specifics on which axis, duration of the event, and time of the trigger event.

13. The method of claim 9, wherein the data message comprises the real-time status of the at least one input sensor.

14. The method of claim 1, further comprising the steps of:

a. establishing an x-axis activity duration, a y-axis activity duration, and a z-axis activity duration;

b. storing the x axis activity duration, y-axis activity duration, and z-axis activity duration;

c. establishing an x-axis activity threshold, a y-axis activity threshold. and a z-axis activity threshold;

d. storing the x-axis activity threshold, y-axis activity threshold, and z-axis activity threshold;

e. determining an x-axis filtered threshold value by adding the x-axis translated filtered acceleration value to the x-axis activity threshold;

f. determining a y-axis filtered threshold value by adding the y-axis translated filtered acceleration value to the y-axis activity threshold;

g. determining a z-axis filtered threshold value by adding the z-axis translated filtered acceleration value to the z-axis activity threshold; and

h. continually comparing the x-axis filtered threshold value to the x-axis translated raw acceleration value, the y-axis filtered threshold value to the y-axis translated raw acceleration value, and the z-axis filtered threshold value to the z-axis translated raw acceleration value.

15. The method of claim 14, further comprising the steps of

a. activating a timer when at least one of the x-axis translated raw acceleration value exceeds the x-axis filtered threshold value, the y-axis translated raw acceleration value exceeds the y-axis filtered threshold value, and the z-axis translated raw acceleration value exceeds the z-axis filtered threshold value;

b. determining a timer duration of the timer when at least one of the x-axis translated raw acceleration value does not exceed the x-axis filtered threshold value, the y-axis translated raw acceleration value does not exceed the y-axis filtered threshold value, and the z-axis translated raw acceleration value does not exceed the z-axis filtered threshold value, said timer duration comprising the duration that at least one of the x-axis translated raw acceleration value exceeded the x-axis filtered threshold value, the y-axis translated raw acceleration value exceeded the y-axis filtered threshold value, and the z-axis translated raw acceleration value exceeded the z-axis filtered threshold value;

c. storing one of a trigger activity event and a trigger inactivity event when the timer duration exceeds at least one of the x-axis activity duration, the y-axis activity duration, and the z-axis activity duration; and

d. updating an engine running status.

16. The method of claim 15, wherein at least one of the trigger activity event and the trigger inactivity event comprises storing specifics on which axis, the timer duration, and the time of the trigger event.

17. The method of claim 1, further comprising the steps of:

a. at least one 3-axis magnetometer communicating with the microcontroller of the inertial navigation sensor board, said microcontroller processing data from said 3-axis magnetometer;

b. calculating the mobile asset'"'"'s pitch, wherein the mobile asset'"'"'s pitch is determined by applying the equation;

18. The method of claim 17, further comprising the steps of

a. at least one GPS sensor, onboard the mobile asset, receiving GPS signals from a global positioning system;

b. at least one 3-axis gyroscope communicating with the microcontroller of the inertial navigation sensor board, said microcontroller processing data from said 3-axis gyroscope;

c. determining when GPS signal is available the from the GPS sensor; and

d. parsing the mobile asset'"'"'s GPS data into a speed, a heading, a latitude, and a longitude;

e. storing the latitude and longitude;

f. reading gyroscope data from a 3-axis gyroscope;

g. calculating a new position using the latitude, longitude, mobile asset speed, at least one of a wheel speed and data from the event data recorder, tilt compensation heading, and gyroscope data, the new position including a new latitude and a new longitude; and

h. storing the new latitude and new longitude.

19. The method of claim 17, further comprising the steps of:

a. at least one 3-axis gyroscope communicating with the microcontroller of the inertial navigation sensor board, said microcontroller processing data from said 3-axis gyroscope;

b. at least one GPS sensor, onboard the mobile asset, receiving UPS signals from a global positioning system;

c. determining the mobile asset'"'"'s last known latitude and last known longitude from the GPS sensor;

d. storing the mobile asset'"'"'s last known latitude and last known longitude;

e. reading gyroscope data from a 3-axis gyroscope;

f. calculating a new position using the last known latitude, last known longitude, mobile asset speed, at least one of a wheel speed and data from the event data recorder, tilt compensation heading, and gyroscope data, the new position including a new latitude and a new longitude; and

g. storing the new latitude and new longitude.

20. The method of claim 19, further comprising the steps of:

a. logging the time of the new latitude and longitude; and

b. sending departure and arrival alerts.

21. The method of claim 20, further comprising the steps of:

a. defining departure and arrival virtual trip wires;

b. detecting when the asset crosses the departure and arrival virtual trip wires;

c. logging the time the asset crosses the departure and arrival virtual trip wires; and

d. sending an alert when the asset crosses the departure and arrival virtual trip wires.

22. The method of claim 8, wherein the fuel level sensor is an ultrasonic level sensor,

a. said ultrasonic level sensor using ultrasonic acoustic waves to determine the distance between the sensor head and the fuel level.

23. The method of claim 1, wherein the event data recorder comprises at least one digital input and at least one analog input.

24. The method of claim 1, wherein the event data recorder comprises at least one pressure switch and at least one pressure transducer.

25. The method of claim 1, further comprising the step of:

a. at least one fuel level sensor measuring the amount of fuel inside a fuel tank.

26. The method of claim 1, further comprising the step of:

a. calibrating a compass on the mobile asset.

27. The method of claim 4, further including the steps of:

a. requesting a data log file from the event data recorder, said data log file covering at least one of the trigger event and the emergency brake event;

b. receiving the data log file; and

c. sending the data log file to the back office in real time.

28. The method of claim 10, further including the steps of:

a. requesting a digital video download covering the time of the trigger event from the digital video recorder;

b. receiving the digital video download; and

c. sending the digital video download to a back office.

29. The method of claim 18, further comprising the steps of:

a. logging the time of the new latitude and longitude; and

b. sending departure and arrival alerts.

30. The method of claim 29, further comprising the steps of:

a. defining departure and arrival virtual trip wires;

b. detecting when the asset crosses the departure and arrival virtual trip wires;

c. logging the time the asset crosses the departure and arrival virtual trip wires; and

d. sending an alert when the asset crosses the departure and arrival virtual trip wires.

31. A method for recording, processing and transmitting data from a mobile asset, comprising the steps of:

a. at least one event data recorder, onboard the mobile asset, monitoring real-time status of at least one input sensor and logging data relating to the mobile asset;

b. at least one digital video recorder onboard the mobile asset, recording still images, video and acoustics in real-time;

c. at least one inertial navigation sensor board, onboard the mobile asset, said board comprising a microcontroller communicating with and processing data from a 3-axis accelerometer;

d. establishing an x-axis acceleration duration, a y-axis acceleration duration, and a z-axis acceleration duration;

e. establishing an x-axis acceleration threshold, a y-axis acceleration threshold, and a z-axis threshold predefined thresholds in three axes;

f. reading an x-axis raw acceleration value, a y-axis raw acceleration value, and a z-axis raw acceleration value data from the 3-axis accelerometer;

g. reading an x-axis gauss value, a y-axis gauss value, and a z-axis gauss value from a 3-axis magnetometer;

h. reading an x-axis angular acceleration value, a y-axis angular acceleration value, and a z-axis angular acceleration value from a 3-axis gyroscope;

i. filtering the x-axis raw acceleration value, y-axis raw acceleration value and the z-axis raw acceleration value into an x-axis filtered acceleration value, a y-axis filtered acceleration value, and a z-axis filtered acceleration value;

j. translating the axes of the inertial navigation sensor board to the axes of the mobile asset and determining an x-axis translated raw acceleration value by translating the x-axis raw acceleration value to the axes of the mobile asset, determining a y-axis translated raw acceleration value by translating the y-axis raw acceleration value to the axes of the mobile asset, and determining a z-axis translated raw acceleration value by translating the z-axis raw acceleration value to the axes of the mobile asset;

k. translating the axes of the inertial navigation sensor board to the axes of the mobile asset and determining an x-axis translated filtered acceleration value by translating the x-axis filtered acceleration value to the axes of the mobile asset, determining a y-axis translated filtered acceleration value by translating the y-axis filtered acceleration value to the axes of the mobile asset, and determining a z-axis translated filtered acceleration value by translating the z-axis filtered acceleration value to the axes of the mobile asset;

l. determining an x-axis filtered threshold value by adding the x-axis translated filtered acceleration value to the x-axis acceleration threshold;

m. determining a y-axis filtered threshold value by adding the y-axis translated filtered acceleration value to the y-axis acceleration threshold;

n. determining a z-axis filtered threshold value by adding the z-axis translated filtered acceleration value to the z-axis acceleration threshold; and

o. continually comparing the x-axis filtered threshold value to the x-axis translated raw acceleration value, the y-axis filtered threshold value to the y-axis translated raw acceleration value, and the z-axis filtered threshold value to the translated raw acceleration value.