Apparatus and method for gathering data from sensors oriented at an oblique angle relative to a railway track

• US 10,807,623 B2
• Filed: 01/24/2019
• Issued: 10/20/2020
• Est. Priority Date: 06/01/2018
• Status: Active Grant

• Current Assignee: Tetra Tech Incorporated
• Original Assignee: Tetra Tech Incorporated
• Inventors: Mesher, Darel
• Primary Examiner(s): Nguyen, Chuong P
• Application Number:
  US16/255,928
• Publication Number:
  US 20190367061A1
• Time in Patent Office: 635 Days
• Field of Search: 34235733, 246120
• 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 2205/04 Satellite based navigation systems, e.g. global positioning system [GPS]
• CPC Class Codes: B61L 23/00 Control, warning or like safety means along the route or between vehicles or trains
• 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: G01B 11/25 by projecting a pattern, e.g. one or more lines, moiré fringes on the object G01B11/255 takes precedence ; image analysis for depth or shape recovery G06T7/50
• CPC Class Codes: G01D 11/245 Housings for sensors
• CPC Class Codes: G01D 11/26 Windows; Cover glasses; Sealings therefor
• CPC Class Codes: G01D 5/245 using a variable number of pulses in a train
• CPC Class Codes: G01S 19/45 by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
• CPC Class Codes: G01S 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G01S 19/50 whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks

Abstract

A system and method for inspecting a railway track using sensors oriented at an oblique angle relative to a rail vehicle on which the system is traveling. The orientation of the sensors allows for different data to be gathered regarding a particular rail including rail design specifications (gathered based on manufacturer markings detected and analyzed by the system), rail seat abrasion values based on direct measurement of rails from the oblique angle, and other analysis of rail features including joint bars, rail welds, bond wires, rail holes, and broken rails. The use of an air blower, ducts, and one or more air distribution lids over the sensors helps remove debris from blocking the sensors and structured light generators.

Claims

1. A railway track assessment apparatus for gathering, storing, and processing profiles of one or both rails on a railway track while the apparatus travels on a rail vehicle along the railway track, the apparatus comprising:

i. a processor;

ii. a system controller in communication with the processor;

iii. a data storage device in communication with the processor;

iv. a power source for providing electric power to the track assessment apparatus;

v. a first sensor pod attached adjacent to an undercarriage of the rail vehicle, the first sensor pod comprising;

1. a first 3D sensor in communication with the system controller, the first 3D sensor configured in an orientation at an oblique angle β

relative to a railway track bed surface supporting rails on which the rail vehicle is moving and configured in an orientation substantially perpendicular to the supporting rails to obtain a side view of a first side of a first rail of the railway track and obtain data from the first side of the first rail; and

2. a first structured light generator in communication with the system controller;

vi. an encoder engaged with a wheel of the rail vehicle to transmit pulses to the system controller based on the direction and distance travelled of the rail vehicle;

vii. a GNSS receiver in communication with the processor for providing position data of the railway track assessment apparatus to the processor;

viii. the system controller further comprising a sensor trigger controller; and

ix. computer executable instructions stored on a computer readable storage medium in communication with the sensor trigger controller operable to;

1. convert wheel encoder pulses to a desired profile measurement interval; and

2. reference profile scans to geo-spatial coordinates by synchronizing encoder pulses with GNSS receiver position data.

2. The railway track assessment apparatus of claim 1 wherein the first sensor pod is oriented at an oblique angle α

relative to the undercarriage of the rail vehicle.

3. The railway track assessment apparatus of claim 1

i. wherein the first sensor pod further comprisesa first sensor enclosure wherein the first 3D sensor and the first structured light generator are attached adjacent to the first sensor enclosure inside of the first sensor enclosure;

2. a first thermal sensor; and

3. a first heating and cooling device; and

ii. wherein the system controller further comprises a temperature controller in communication with the first thermal sensor and the first heating and cooling device wherein the first heating and cooling device is activated or deactivated by the temperature controller based on feedback from the first thermal sensor so that the temperature inside the first sensor enclosure is maintained within a specific range.

4. The railway track assessment apparatus of claim 1 further comprising:

i. a second sensor pod attached adjacent to the undercarriage of the rail vehicle, the second sensor pod comprising;

1. a second 3D sensor in communication with the system controller, the second 3D sensor configured in an orientation at an oblique angle β

relative to a railway track bed surface supporting rails on which the rail vehicle is moving and configured in an orientation substantially perpendicular to the supporting rails to obtain a side view of a second side of the first rail of the railway track and obtain data from the second side of the first rail; and

2. a second structured light generator in communication with the system controller;

ii. a third sensor pod attached adjacent to the undercarriage of the rail vehicle, the third sensor pod comprising;

1. a third 3D sensor in communication with the system controller, the third 3D sensor configured in an orientation at an oblique angle β

relative to a railway track bed surface supporting rails on which the rail vehicle is moving and configured in an orientation substantially perpendicular to the supporting rails to obtain a side view of a first side of a second rail of the railway track and obtain data from the first side of the second rail; and

2. a third structured light generator in communication with the system controller; and

iii. a fourth sensor pod attached adjacent to the undercarriage of the rail vehicle, the fourth sensor pod comprising;

1. a fourth 3D sensor in communication with the system controller, the fourth 3D sensor configured in an orientation at an oblique angle β

relative to a railway track bed surface supporting rails on which the rail vehicle is moving and configured in an orientation substantially perpendicular to the supporting rails to obtain a side view of a second side of the second rail of the railway track and obtain data from the second side of the second rail; and

2. a fourth structured light generator in communication with the system controller.

5. The railway track assessment apparatus of claim 4 further comprising:

iv. computer executable instructions stored on a computer readable storage medium in communication with the processor operable to;

1. synchronize the repeated activation of the first 3D sensor, the second 3D sensor, the third 3D sensor, and the fourth 3D sensor;

2. combine profile scans from the first 3D sensor and the second 3D sensor into a first combined profile scan, and combine profile scans from the third 3D sensor and the fourth 3D sensor into a second combined profile scan;

3. reference the first combined profile scan and the second combined profile scan to geo-spatial coordinates by synchronizing encoder pulses with GNSS receiver position data.

6. The railway track assessment apparatus of claim 1 further comprising:

i. a first sensor enclosure inside which the first 3D sensor and the first structured light generator are attached adjacent to the first sensor enclosure; and

ii. a cover plate forming a wall of the first sensor enclosure wherein the cover plate further comprises a first cover plate aperture with a first glass panel covering the first cover plate aperture, and a second cover plate aperture with a second glass panel covering the second cover plate aperture.

7. The railway track assessment apparatus of claim 6 wherein the first glass panel comprises a light transmission band that is compatible with the wavelengths of the first structured light generator, allowing most of any generated light from the first structured light generator to pass through the first glass panel and not be reflected back into the first sensor enclosure by the first glass panel.

8. The railway track assessment apparatus of claim 6 further comprising:

i. an air blower in communication with the system controller; and

ii. first ducting extending from the air blower to a position proximate to the first glass panel and the second glass panel, wherein the air blower is activated at specified times to blow air through the ducting to dislodge and deflect debris from the first glass panel and the second glass panel.

9. The railway track assessment apparatus of claim 6 further comprising:

i. an air distribution lid attached adjacent to the cover plate, the air distribution lid further comprising;

1. a first duct mount;

2. a first walled enclosure adjacent to the first glass panel;

3. a first enclosed channel providing space for air to flow from the first duct mount to the first walled enclosure proximate to the first glass panel;

4. a first air distribution lid first aperture at least partially covering the first glass panel;

5. a second duct mount;

6. a second walled enclosure adjacent to the second glass panel; and

7. a second enclosed channel providing space for air to flow from the second duct mount to the second walled enclosure proximate to the second glass panel;

ii. an air blower in communication with the system controller; and

iii. first ducting from the air blower to the air distribution lid wherein the first ducting further comprises a first duct attached adjacent to the first duct mount and a second duct attached adjacent to the second duct mount, wherein the air blower is activated by the system controller at specified times and, when activated, the air blower causes air to flow from the air blower, through the ducting, through first duct mount and the second duct mount, through the first enclosed channel and the second enclosed channel, to the first walled enclosure and the second walled enclosure to dislodge debris from the first glass panel and the second glass panel during operation of the railway track assessment apparatus.

10. The railway track assessment apparatus of claim 1 further comprising:

i. a first database stored on a computer readable medium in communication with the processor wherein the first database comprises manufacturing data regarding the physical characteristics of specified rails cross-referenced with rail web markings;

ii. the system controller further comprising a 3D sensor controller;

iii. computer executable instructions stored on a computer readable storage medium in communication with the 3D sensor controller operable to allow the 3D sensor controller to;

1. gather a first scanline of a rail being scanned from the first 3D sensor, such first scanline providing information regarding a physical characteristic of a rail feature shown in the scanline; and

2. gather multiple scanlines to form an elevation map of the rail being scanned; and

iv. computer executable instructions stored on a computer readable storage medium in communication with the processor operable to allow the processor to;

1. analyze alpha-numeric markings on a side of the rail being scanned using an optical character recognition algorithm, such alpha-numeric markings analyzed using the elevation map;

2. access the first database;

3. cross-reference alpha-numeric markings in the elevation map with manufacturing data in the first database;

4. measure a first physical characteristic of the rail being scanned using the processor to analyze the first scanline;

5. using a machine vision algorithm, compare the first physical characteristic of the rail being scanned with a same type of physical characteristic of a rail found in the first database, wherein the rail found in the first database matches the alpha-numeric markings that were decoded by the 3D sensor controller applicable to the first scanline; and

6. determine the condition of the first physical characteristic of the rail being scanned based on the comparison between the first physical characteristic of the rail being scanned and the same type of physical characteristic of a rail found in the first database.

11. The railway track assessment apparatus of claim 10 further comprising:

i. a wireless transmitter and receiver in communication with the processor;

ii. a second database stored on a computer readable medium in communication with the processor but geographically remote from the processor, wherein the second database comprises manufacturing data regarding the physical characteristics of specified rails cross-referenced with rail web markings; and

iii. computer executable instructions stored on a computer readable storage medium in communication with the processor operable to allow the processor to;

1. access the second database;

2. cross-reference alpha-numeric markings in the elevation map with manufacturing data in the second database;

3. measure the first physical characteristic of the rail being scanned using the processor to analyze the first scanline;

4. using a machine vision algorithm, compare the first physical characteristic of the rail being scanned with a same type of physical characteristic of a rail found in the second database, wherein the rail found in the second database matches the alpha-numeric markings that were deciphered by the 3D sensor controller applicable to the first scanline; and

5. determine the condition of the first physical characteristic of the rail being scanned based on the comparison between the first physical characteristic of the rail being scanned and the same type of physical characteristic of a rail found in the second database.

12. The railway track assessment apparatus of claim 1 further comprising:

i. the system controller further comprising a 3D sensor controller;

ii. computer executable instructions stored on a computer readable storage medium in communication with the 3D sensor controller operable to allow the 3D sensor controller to gather an elevation map of the first side of the first rail using the first 3D sensor; and

iii. computer executable instructions stored on a computer readable storage medium in communication with the processor operable to allow the processor to;

1. determine whether there is an elevation variation in the elevation map;

2. if there is an elevation variation in the elevation map,

a. determine the likely cause of the elevation variation based on the size and shape of the elevation variation;

b. assign a specific type of rail component identity to that elevation variation;

c. analyze the elevation variation under the presumption that the elevation variation coincides with the assigned specific type of rail component; and

d. save the elevation map, the identity of the assigned rail component, and the measurements made during the analysis of the elevation variation to the data storage device.

13. The railway track assessment apparatus of claim 1 further comprising:

i. the system controller further comprising a 3D sensor controller;

ii. computer executable instructions stored on a computer readable storage medium in communication with the 3D sensor controller operable to allow the 3D sensor controller to gather a scanline of the first side of the first rail using the first 3D sensor;

iii. computer executable instructions stored on a computer readable storage medium in communication with the processor operable to allow the processor to;

1. calibrate the first 3D sensor to determine the real world unit width of a pixel in a scanline;

2. locate a pixel representing a rail base bottom using a horizontal edge detection machine vision algorithm

3. determine whether a tie is present in the scanline by detecting a generally smooth planar surface in proximity to and below the first rail using a machine vision algorithm;

4. if a tie is present in the scanline, locate a pixel representing the top of the tie surface using a machine vision algorithm;

5. calculate the difference in elevation between the bottom of the rail and the top of the tie surface representing the thickness of a pad under the first rail; and

6. based on the calculated thickness of the pad, determine the amount of rail seat abrasion on the tie under the first rail.

14. The railway track assessment apparatus of claim 1 further comprising:

i. the system controller further comprising a 3D sensor controller;

ii. computer executable instructions stored on a computer readable storage medium in communication with the 3D sensor controller operable to allow the 3D sensor controller to gather a scanline of the first side of the first rail using the first 3D sensor;

iii. computer executable instructions stored on a computer readable storage medium in communication with the processor operable to allow the processor to;

1. calibrate the first 3D sensor to determine the real word unit width of a pixel in a scanline;

2. locate a pixel representing a rail base bottom using a horizontal edge detection machine vision algorithm;

3. determine whether a tie is present in the scanline by detecting a generally smooth planar surface in proximity to and below the first rail using a machine vision algorithm;

4. if a tie is present in the scanline, locate a pixel representing the top of the tie surface using a machine vision algorithm; and

5. calculate the difference in elevation between the bottom of the rail and the top of the tie surface representing the amount of plate cut in the first rail.

15. The railway track assessment apparatus of claim 1 wherein the system controller further comprises:

i. a laser power controller in communication with the first structured light generator and the processor; and

ii. computer executable instructions stored on a computer readable storage medium in communication with the laser power controller operable to allow the laser power controller to adjust the power to the structured light generator based on the light intensity of the most recent profile scan made by the first 3D sensor.