EP4335717A1 - Vorrichtung zur inspektion von defekten in einer eisenbahn - Google Patents

Vorrichtung zur inspektion von defekten in einer eisenbahn Download PDF

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Publication number
EP4335717A1
EP4335717A1 EP22382840.1A EP22382840A EP4335717A1 EP 4335717 A1 EP4335717 A1 EP 4335717A1 EP 22382840 A EP22382840 A EP 22382840A EP 4335717 A1 EP4335717 A1 EP 4335717A1
Authority
EP
European Patent Office
Prior art keywords
railway
track
inspecting defects
image capture
images
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22382840.1A
Other languages
English (en)
French (fr)
Inventor
Héctor Sanz Mateos
Francisco Javier Carvajal Pérez
Germán Castaño Roldán
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ingeniera Y Economia Del Transporte SME MP SA
Original Assignee
Ingeniera Y Economia Del Transporte SME MP SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ingeniera Y Economia Del Transporte SME MP SA filed Critical Ingeniera Y Economia Del Transporte SME MP SA
Priority to EP22382840.1A priority Critical patent/EP4335717A1/de
Publication of EP4335717A1 publication Critical patent/EP4335717A1/de
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
    • B61D15/08—Railway inspection trolleys
    • B61D15/12—Railway inspection trolleys power propelled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
    • B61K9/08—Measuring installations for surveying permanent way

Definitions

  • the present invention relates to a device for inspecting defects in a railway, and more specifically to a device with image capture means configured to simultaneously acquire at least zenithal images and lateral images of a track of the railway and with processing means in data communication with the image capture means configured to receive and process the images acquired by means of an artificial intelligence model.
  • Portable pieces of equipment have also been used to carry out non-destructive tests that can be transported and used on the same railway, but these processes are considerably slow, require specialised personnel and only offer a reliable reading of specific points on the railway, and given the current extension of the railway networks is unfeasible.
  • the present invention proposes a solution to the foregoing problems by means of a device for inspecting defects in a railway as described below.
  • the invention provides a device for inspecting defects in a railway, wherein the railway comprises two tracks, wherein the device for inspecting defects is characterised in that it comprises:
  • a railway will be understood as the railway infrastructure that enables a railway vehicle to transit, and which comprises, in a conventional manner, two tracks arranged in parallel at a fixed distance, struts or sleepers to which the tracks are attached and that help to keep them separated at a fixed distance, fastenings or attachments to join the rails to the struts; in some cases, the railway may comprise other elements, such as ballasts, signalling installations, electrification installations, switches and crossings, etc.
  • the structure will be understood as an element formed by one or more portions, the function of which is to serve as a support and framework for at least some of the other elements making up the inspection device, which allows the inspection device to be placed or arranged on the tracks, and which also allows the movement thereof along the railway as a railway vehicle; in a preferred embodiment, the structure comprises three or more wheels, with at least two of them arranged in parallel at a distance corresponding to the track gauge of the railway. In some embodiments, the structure is configured for adapting the wheelbase to various track gauges.
  • the image capture means will also be understood as any technological element capable of obtaining or capturing images; in a preferred embodiment, the image capture means comprise digital photographic or video cameras, as well as other auxiliary elements that allow the operation thereof, such as power supply means or data connection cables.
  • the image capture means are preferably attached to the structure by means of an articulated joint, and are oriented such that during normal operation of the inspection device they allow at least zenithal images of the railway and lateral images of a track to be simultaneously obtained.
  • Zenithal images should be understood as images obtained at a zenithal angle with respect to the plane of the tracks of the railway, i.e., from a point of view located vertically and above the plane defined by the tracks; zenithal images show at least one head of the track, but may show the heads of both tracks, and/or other railway elements; preferably the zenithal images also show a portion or all of the strut, sleeper or plate that fulfils these functions.
  • Lateral images of a track are to be understood as images showing the lateral portion or flank of at least one of the tracks; preferably, the lateral images show one side of the web of the track, and may also show attachment elements and other elements of the railway.
  • an image capture element can be arranged focussing, pointing to or oriented towards the side of the track.
  • Lighting means should be interpreted as one or more light sources capable of providing lighting in a controlled manner to a section of the railway or to a specific area of an element of this railway; in a preferred embodiment, the lighting means comprise one or more lamps oriented such that during normal operation of the inspection device they illuminate at least the zenithal area and the lateral area of the track.
  • Processing means are to be understood as any technological element capable of processing information, in particular images captured by the image capture means; in a preferred exemplary embodiment, the processing means are a digital computer arranged in the structure of the inspection device; in another example, the processing means is a computer capable of wireless communication that is separated from the structure of the device.
  • the processing means are in data communication by conventional means, such as cables or radio frequency communication systems.
  • the processing means comprise an artificial intelligence model obtained from an image recognition algorithm, so that it is capable of recognising different elements in an image of the railway, as well as detecting anomalies and defects in the elements of the railway, especially the tracks.
  • the inspection device is configured to be arranged on the tracks of the railway to be inspected like a conventional railway vehicle, capable of moving along the railway at a constant or approximately constant speed; once arranged or placed on the rail, the image capture means acquire zenithal images of the railway and, simultaneously, also acquire lateral images of one or both tracks; this process can be repeated periodically at regular segments of the rail, between which the inspection device moves, or it can be carried out continuously, without the device stopping, depending on the performance of the image capture means.
  • the lighting means allow the area of the railway from which the image capture means obtain images to be illuminated under certain conditions.
  • the images are transmitted to the processing means, which process them through the artificial intelligence model to detect defects in the railway.
  • the image capture means comprise, for each track of the railway, a camera that is orientable towards the head of the track, and a camera that is orientable towards the web of the track.
  • the cameras of the image capture means are arranged such that during the normal operation of the inspection device they are each oriented, focussed or pointed towards a specific portion of one of the tracks; in this way, a first camera points to the head of one track, a second camera points to the web of the same track, a third camera points to the head of the other track, and a fourth camera points to the web of this other track.
  • the cameras pointing to the web of the tracks are oriented towards the outside faces of the web, providing lateral images of the tracks.
  • Orientable should be understood as the element being configured to be oriented during the normal operation of the inspection device towards a specific area of the railway; in one embodiment, the orientable condition is achieved by means of an articulated joint between the camera and the structure.
  • the image capture means further comprise two other cameras that are each orientable to the web of a track of the railway, and one camera that is orientable to the space between the tracks of the railway.
  • the two additional cameras that are orientable to the webs of the tracks are arranged such that they can focus on the side of the web of the track that is not focussed on by the previous cameras, for example on the inside faces of the tracks.
  • the camera that is orientable to the space between the tracks allows images to be obtained of both the tracks and one or more of the elements that are within the angle of focus, such as sleepers, struts and fastenings.
  • the image capture means further comprise one or more cameras that are orientable to one or more of: a railway strut, a railway attachment, railway ballast, a railway signalling apparatus.
  • the inspection device comprises additional cameras configured to obtain images of one or more of the listed elements. This enables specific elements of the railway to be exclusively or redundantly inspected.
  • the lighting means comprise two lamps, each being orientable to a track of the railway, and a lamp that is orientable to the space between the tracks of the railway.
  • the lamps enable specific portions of the railway to be illuminated in a controlled manner so that the images obtained have minimum brightness and contrast conditions.
  • the device further comprises at least one light detection and ranging, LiDAR, distance measurement system in data communication with the processing means.
  • LiDAR light detection and ranging
  • the device further comprises positioning means for positioning the device in data communication with the processing means.
  • the positioning means provide position coordinates of the inspection device that can be associated with each set of images obtained.
  • the positioning means comprise one or more of: a GNSS satellite navigation module, a real-time kinematic, RTK, satellite navigation module, an inertial navigation system, INS.
  • a GNSS satellite navigation module a real-time kinematic, RTK, satellite navigation module, an inertial navigation system, INS.
  • RTK real-time kinematic
  • INS inertial navigation system
  • the device further comprises a self-calibration system configured to detect the metering of the railway.
  • the self-calibration system allows the correction of possible position errors of the inspection device.
  • the device further comprises propulsion means configured to propel the device in a controlled manner.
  • the inspection device can be used to statically inspect a single section of railway, but its application is more advantageous if the inspection device is moved along a long segment of railway, which can be achieved by means of an external traction, for example, by pushing the device along the rail, or more conveniently, by propulsion means that propel the inspection device at an approximately constant and adjustable speed.
  • the device comprises an electric motor operatively connected to at least one wheel, wherein the motor is powered by lithium batteries.
  • the electric motor comprises a controller configured to be remotely operated by a remote control.
  • the structure comprises at least one telescopic joint configured for adapting the device to various track gauges.
  • the telescopic joint allows the inspection device to be used in different types of gauges, from 1400 to 1700 mm; in a preferred embodiment, the structure comprises fastening systems to secure the track gauge when it is in operation.
  • the processing means comprise a data storage unit.
  • the data storage unit allows non-transitory storage of the images obtained by the image capture means together with additional data, such as the date and time of acquisition and the coordinates of the place where it was acquired. This information can be used as a log for later reference.
  • Figures 1a and 1b show a preferred exemplary embodiment of the device (1) for detecting defects in a railway from two different points of view.
  • the detection device (1) is built around a structure (2) or chassis formed by a set of structural aluminium profiles; in other embodiments, the structure (2) is formed using 3D printing with SLS technology with polyamide-glass fibre (PA-GF) reinforced powder material.
  • PA-GF polyamide-glass fibre
  • the structure (2) of the example is configured as a beam that is placed on the tracks of the railway to be inspected, substantially perpendicular to the axis of the rail; the structure (2) rests on the tracks by means of two wheels mounted at the ends of a crossbar arranged at one end of the beam, and by means of a set of two wheels in tandem arranged at the opposite end of the beam.
  • a set of profile segments serves to join the different means and elements of the device (1) to the structure (2).
  • the beam comprises two portions joined by means of a telescopic joint that enables the wheelbase to be selectively modified, so that it can be adapted to different track gauges.
  • the structure (2) comprises locking elements that allow the telescopic joint to be interlocked and the position of the device (1) to be locked in track gauges of 1400 mm or 1700 mm during operation.
  • the image capture means (3) comprise seven digital cameras, with three cameras focussing on each track from three different angles, and another focussing on the space between the tracks; for each track there is a camera in a zenithal position with respect to the track, and two cameras oriented to the sides of the track, one focussing on the outside face of the web of the track, and another camera focussing on the outside face of the web of the track.
  • the cameras are mounted by articulated joints at the ends of prismatic profiles that are joined to the beam of the structure (2). The cameras can work continuously as video cameras, or acquiring images at regular time intervals, in a discreet manner.
  • the device comprises lighting means (4) that in the example are implemented by means of three pairs of lamps, one pair for each track, and another pair focussing on the space between the tracks.
  • the lamps are mounted on some of the profiles that support the cameras.
  • the acquired images are transmitted by cables to the processing means (5) which in this example are made up of a computer; this computer is powered by rechargeable lithium batteries and comprises a data storage unit in which the acquired images are stored for later reference; in this example, the data storage unit is a conventional hard drive.
  • the computer further comprises wireless communication means, for example wireless communication means capable of connecting to a data network.
  • the device (1) comprises positioning means (6), which comprise a GPS module and an odometer; the positioning means (6) provide the current coordinates of the device (1) at the time the images of the railway are acquired, and they are stored together with them.
  • the positioning means (6) comprise other systems or modules that offer a reading of the position of the device (1) on the railway, such as satellite navigation modules, GNSS, systems other than the GPS system, real-time kinematic satellite navigation modules, or RTK, or inertial navigation systems, INS.
  • the computer comprises an artificial intelligence model configured to identify the elements that make up the railway in the images and to detect anomalies or defects in them.
  • the artificial intelligence model is obtained through a process of training an image recognition algorithm with a set of labelled images of railways, including images with anomalies and images with the railway in good condition. This model allows, firstly, identifying each of the elements of the railway that appear in the image, and secondly, locating possible anomalies or defects in real time; given the reading of the positioning means (6), the presence of anomalies is associated with a specific position of the railway to facilitate its inspection and validation by qualified personnel.
  • the artificial intelligence model provides an assessment of the severity of the anomaly, for example, the length of a crack in a strut; the assessment can be represented, for example, by means of a colour mask superimposed on the anomaly in the image.
  • the computer transmits the images via a data network to another computer that comprises the artificial intelligence model and executes the described image analysis.
  • the device (1) further comprises a LiDAR system, not shown in the figures, which allows the dimensions of the elements of the railway to be accurately calculated, and to determine whether there is any deformation that exceeds the tolerance limits.
  • a LiDAR system not shown in the figures, which allows the dimensions of the elements of the railway to be accurately calculated, and to determine whether there is any deformation that exceeds the tolerance limits.
  • It also comprises a self-calibration system; by detecting the rail metering placed in the web of the track, an image capture system is arranged that allows the device (1) to be repositioned on the rail, eliminating possible errors accumulated by the positioning means (6) between metering marks.
  • propulsion means (7) implemented by means of an electric motor that transmits power to the wheels arranged at the end of the beam.
  • the propulsion means (7) in this example can be controlled remotely by a remote control that allows the personnel responsible for its operation to establish a constant speed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Machines For Laying And Maintaining Railways (AREA)
EP22382840.1A 2022-09-12 2022-09-12 Vorrichtung zur inspektion von defekten in einer eisenbahn Pending EP4335717A1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP22382840.1A EP4335717A1 (de) 2022-09-12 2022-09-12 Vorrichtung zur inspektion von defekten in einer eisenbahn

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP22382840.1A EP4335717A1 (de) 2022-09-12 2022-09-12 Vorrichtung zur inspektion von defekten in einer eisenbahn

Publications (1)

Publication Number Publication Date
EP4335717A1 true EP4335717A1 (de) 2024-03-13

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EP22382840.1A Pending EP4335717A1 (de) 2022-09-12 2022-09-12 Vorrichtung zur inspektion von defekten in einer eisenbahn

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3605763B2 (ja) * 2001-08-28 2004-12-22 ヨシイケ科研機器株式会社 鉄道用軌間兼用台車
US20170106885A1 (en) * 2015-09-03 2017-04-20 Sameer Singh Railroad track survey system
US20210171070A1 (en) * 2017-12-22 2021-06-10 Melvelle Equipment Corp. Pty Ltd Railway track trolley
CN113415309A (zh) * 2021-06-16 2021-09-21 西安交通大学 一种基于视觉分析的车载钢轨病害监测装置及其工作方法
US20220189001A1 (en) * 2020-10-23 2022-06-16 Harsco Technologies LLC Rail feature identification system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3605763B2 (ja) * 2001-08-28 2004-12-22 ヨシイケ科研機器株式会社 鉄道用軌間兼用台車
US20170106885A1 (en) * 2015-09-03 2017-04-20 Sameer Singh Railroad track survey system
US20210171070A1 (en) * 2017-12-22 2021-06-10 Melvelle Equipment Corp. Pty Ltd Railway track trolley
US20220189001A1 (en) * 2020-10-23 2022-06-16 Harsco Technologies LLC Rail feature identification system
CN113415309A (zh) * 2021-06-16 2021-09-21 西安交通大学 一种基于视觉分析的车载钢轨病害监测装置及其工作方法

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